Title :
Monotonically convergent feedback-forward iterative learning control for linear discrete-time systems
Author :
Zhifu Li ; Yueming Hu
Author_Institution :
Sch. of Mech. & Automotive Eng., South China Univ. of Technol., Guangzhou, China
fDate :
May 31 2014-June 2 2014
Abstract :
For a class of linear discrete-time systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which can guarantee the system is monotonically convergent along the iteration direction and is Bounded-Input Bounded-Output (BIBO) stable along the time direction. First, the feedback feed-forward iterative learning system is presented by a two-dimensional (2-D) Roesser model system. Then, the monotonic convergence problem along the iteration direction is converted to a H∞ disturbance attenuation problem of a one-dimensional system. Third, the sufficient condition of monotonic convergence along the iteration direction is given by LMIs which can also guarantee the system is BIBO stable along the time direction. Furthermore, the LMI condition can determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed scheme.
Keywords :
H∞ control; adaptive control; discrete time systems; feedback; feedforward; iterative methods; learning systems; linear matrix inequalities; linear systems; stability; 2-D Roesser model system; BIBO stability; H∞ disturbance attenuation; ILC scheme; LMI condition; bounded-input bounded-output stability; iteration direction; linear discrete-time systems; linear matrix inequalities; monotonic convergence problem; monotonically convergent feedback-forward iterative learning control; sufficient condition; two-dimensional Roesser model system; Convergence; Discrete-time systems; Educational institutions; Robustness; Stability analysis; State feedback; Symmetric matrices; Discrete linear system; Iterative learning control; Linear matrix inequality; Monotonic convergence;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852821