Title :
Robust iterative learning control design via μ-synthesis
Author :
Tayebi, A. ; Abdul, S. ; Zaremba, M.B.
Author_Institution :
Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont.
Abstract :
This paper deals with the robust iterative learning control (ILC) design for uncertain single input-single output (SISO) linear time invariant (LTI) systems. The design procedure is based upon solving the robust performance condition using the Youla parameterization and the mu-synthesis approach to obtain a feedback controller. Thereafter, a convergent iterative rule is obtained in a straightforward manner by using the performance weighting function involved in the robust performance condition. Experimental results on the first three links of a 6-degrees of freedom (6-DOF) robot manipulator are presented to illustrate the effectiveness of the proposed design method
Keywords :
control system synthesis; convergence; feedback; invariance; iterative methods; linear systems; robust control; uncertain systems; 6-degrees of freedom robot manipulator; Youla parameterization; convergent iterative rule; feedback controller; performance weighting function; robust iterative learning control design mu-synthesis; robust performance condition; single input-single output linear time invariant systems; Adaptive control; Control design; Convergence; Feedback; Filters; Iterative methods; Lakes; Robust control; Robustness; Technological innovation;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507161
