Robust conditions for iterative learning control in state feedback and output injection paradigm (Q1999303)
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English | Robust conditions for iterative learning control in state feedback and output injection paradigm |
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Robust conditions for iterative learning control in state feedback and output injection paradigm (English)
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26 June 2019
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Summary: A robust iterative learning control (ILC) design that uses state feedback and output injection for linear time-invariant systems is reintroduced. ILC is a control tool that is used to overcome periodic disturbances in repetitive systems acting on the system input. The design basically depends on the small gain theorem, which suggests isolating a modeled disturbance system and finding the overall transfer function around the delay model. This assures disturbance accommodation if stability conditions are achieved. The reported design has a lack in terms of the uncertainty issue. This study considered the robustness issue by investigating and setting conditions to improve the system performance in the ILC design against a system's unmodeled dynamics. The simulation results obtained for two different systems showed an improvement in the stability margin in the case of system perturbation.
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iterative learning control
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robust design
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state feedback
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output injection
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robustness
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