Title :
Robust Iterative Learning Control Design Based on Two Degree of Freedom Control
Author :
Shan, Liu ; Jian, Lin
Author_Institution :
Zhejiang Univ., Hangzhou
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 :
Hinfin 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;
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
DOI :
10.1109/CHICC.2006.4347412
