Title :
Iterative Learning Control Study on Single Inverted Pendulum
Author :
Zhang, Xianhe ; Wu, Jie ; Zhan, Xisheng
Author_Institution :
Dept. of Control Sci. & Eng., Hubei Normal Univ., Huangshi
Abstract :
Iterative learning control method is proposed for the single pendulum which is a typical fast-speed multi- variable nonlinear absolutely unstable system. The closed loop iterative learning algorithm based on Lyapunov theory is presented, where the sufficient condition of convergence for closed loop iterative learning algorithm is proposed. The closed loop iterative learning control gains are designed through resolving LMI method. Simulation results show the effectiveness and feasibility of the proposed method.
Keywords :
Lyapunov matrix equations; closed loop systems; iterative methods; linear matrix inequalities; nonlinear systems; pendulums; LMI method; Lyapunov theory; closed loop iterative learning algorithm; closed loop iterative learning control gains; linear matrix inequalities; multivariable nonlinear unstable system; single inverted pendulum; Control systems; Convergence; Costs; Equations; Information technology; Iterative algorithms; Iterative methods; Nonlinear control systems; Open loop systems; Sufficient conditions; Iterative learning control; LMI; Lyapunov theory; Single inverted pendulum;
Conference_Titel :
Intelligent Information Technology Application Workshops, 2008. IITAW '08. International Symposium on
Conference_Location :
Shanghai
Print_ISBN :
978-0-7695-3505-0
DOI :
10.1109/IITA.Workshops.2008.242
