Conference Paper

Experimentally verified 2D systems theory based robust iterative learning control

Inst. of Control & Comput. Eng., Univ. of Zielona, Gora, Poland
DOI: 10.1109/ACC.2010.5530882 Conference: American Control Conference (ACC), 2010
Source: IEEE Xplore


This paper uses 2D control systems theory to develop robust iterative learning control laws for linear plants with experimental validation on a gantry robot used for `pick and place' operations commonly found in industries such as food processing. In particular, the stability theory for linear repetitive processes provides the setting for analysis and this allows design to take account of trial-to-trial error convergence, transient response along the trials and robustness. The mechanism for this is the use of a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial) with the added requirement for maintaining this property in the presence of model uncertainty. The resulting design computations are in terms of Linear Matrix Inequalities (LMIs) and the control laws can be implemented without the need to estimate state vector entries.

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Available from: Paul Lewin, Jul 16, 2014
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    ABSTRACT: For a linear discrete system, a guaranteed cost repetitive control design method is proposed based on a discrete-time two dimensional (2D) model. First, state feedback is incorporated with repetitive control to improve the stability system (DRCS), and the repetitive control law is described as a state feedback of a 2D system. Then, the control performance of the DRCS evaluated by a given quadratic performance function is able to be guaranteed in a given bound by applying the proposed guaranteed cost repetitive control design method. Unlike the existing methods, the control action and learning action can be adjusted independently by tuning the weighting coefficients in the performance function. Finally, simulation shows that the method achieves a satisfactory tracking performance.
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics 08/2012; 34(8). DOI:10.3969/j.issn.1001-506X.2012.08.27