Robust monotonic convergent iterative learning control design: An LMI‐based method
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Publication:6092415
Abstract: This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of norm of error signals is derived. Firstly, it is shown that the robust monotonic convergence of the ILC system can be established equivalently by the positive definiteness of a matrix polynomial over some set. Then, a necessary and sufficient condition in the form of sum of squares (SOS) for the positive definiteness is proposed, which is amendable to the feasibility of linear matrix inequalities (LMIs). Based on such a condition, the optimal ILC algorithm that maximizes the convergence speed is obtained by solving a set of convex optimization problems. Moreover, the order of the learning function can be chosen arbitrarily so that the designers have the flexibility to decide the complexity of the learning algorithm.
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Cited in
(5)- Iterative learning control applied to distributed-order linear time invariant MIMO systems to achieve learnability
- Monotonic Convergent Iterative Learning Controller Design Based on Interval Model Conversion
- Robust optimal design and convergence properties analysis of iterative learning control approaches
- Iterative learning control. Robustness and monotonic convergence for interval systems.
- Linearly monotonic convergence of nonlinear <scp>parameter‐optimal</scp> iterative learning control to linear discrete‐time‐invariant systems
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