Robust Iterative Learning Control Design Based on Two Degree of Freedom Control

Author

Shan, Liu ; Jian, Lin

Author_Institution

Zhejiang Univ., Hangzhou

fYear

2007

Firstpage

530

Lastpage

534

Abstract

In this paper, the iterative learning control (ILC) architecture combining feedforward term and feedback term is transformed into two degree of freedom control framework, so that the ILC design problem can be solved according to classical synthesis of two degree of freedom controller. The original problem for uncertain linear plants is first converted to an Hinfin design problem, and the robust ILC is derived by structured singular value and mu synthesis secondly. Simulation results of a DC servo motor are presented in the last to show the effectiveness of the scheme.

Keywords

H^infin control; adaptive control; control system synthesis; feedback; iterative methods; learning systems; robust control; uncertain systems; DC servo motor; Hinfin design problem; feedback term; feedforward term; freedom control; mu synthesis; robust iterative learning control design; structured singular value synthesis; uncertain linear plant; Control design; DC motors; Electronic mail; Industrial control; Laboratories; Robust control; Robustness; Servomechanisms; Servomotors; State feedback; Iterative Learning Control; Two Degree of Freedom Control; Uncertain Linear Plants;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4347412

Filename

4347412