TY - GEN
T1 - Discrete-time iterative learning control for relative degree systems
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
AU - Meng, Deyuan
AU - Jia, Yingmin
PY - 2011
Y1 - 2011
N2 - This paper is devoted to the two-dimensional (2-D) design problem that arises from discrete-time iterative learning control (ILC). For linear time-invariant (LTI) systems with well-defined relative degree, a unified ILC algorithm is considered which provides wider freedom for the updating law formation. It demonstrates that an appropriately defined variable, together with the tracking error, can be employed to establish the Roesser systems based 2-D description of the ILC process. This enables both asymptotic stability and monotonic convergence of the relative degree ILC systems to be achieved. In particular, conditions for the monotonic convergence are described in terms of linear matrix inequalities (LMIs), which directly give formulas for the updating law design.
AB - This paper is devoted to the two-dimensional (2-D) design problem that arises from discrete-time iterative learning control (ILC). For linear time-invariant (LTI) systems with well-defined relative degree, a unified ILC algorithm is considered which provides wider freedom for the updating law formation. It demonstrates that an appropriately defined variable, together with the tracking error, can be employed to establish the Roesser systems based 2-D description of the ILC process. This enables both asymptotic stability and monotonic convergence of the relative degree ILC systems to be achieved. In particular, conditions for the monotonic convergence are described in terms of linear matrix inequalities (LMIs), which directly give formulas for the updating law design.
KW - Discrete-time iterative learning control
KW - Linear matrix inequality
KW - Monotonic convergence
KW - Relative degree
UR - https://www.scopus.com/pages/publications/84866654083
M3 - 会议稿件
AN - SCOPUS:84866654083
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 110
EP - 113
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Y2 - 27 January 2011 through 29 January 2011
ER -