Robust Iterative Learning Control for Linear Systems Subject to Time-Invariant Parametric Uncertainties and Repetitive Disturbances

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Published: Jul 20, 2010
DOI: https://doi.org/10.37936/ecti-eec.201191.172470
Keywords:
Iterative Learning Control Quadratic Performance Min-Max Problem Parametric Uncertainties Repetitive Disturbances Linear Matrix Inequalities

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Dinh Hoa Nguyen
Department of Automatic Control, Faculty of Electrical Engineering, Hanoi University of Technology
David Banjerdpongchai
Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University

Abstract

This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as a min-max problem with a quadratic performance index subjected to constraints of the control input. Employing Lagrange duality, we can reformulate the robust ILC design as a convex optimization problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is then given. Finally, the effectiveness of the proposed robust ILC algorithm is demonstrated through a numerical example.

Article Details

How to Cite
Nguyen, D. H., & Banjerdpongchai, D. (2010). Robust Iterative Learning Control for Linear Systems Subject to Time-Invariant Parametric Uncertainties and Repetitive Disturbances. ECTI Transactions on Electrical Engineering, Electronics, and Communications, 9(1), 169–176. https://doi.org/10.37936/ecti-eec.201191.172470
Issue
Vol. 9 No. 1 (2011): Special Session from ECTI-CON 2010
Section
Research Article

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