Robust iterative learning control design is straightforward for uncertain LTI systems satisfying the robust performance condition |
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Authors: | Tayebi A Zaremba MB |
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Affiliation: | Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont., Canada; |
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Abstract: | This note demonstrates that the design of a robust iterative learning control is straightforward for uncertain linear time-invariant systems satisfying the robust performance condition. It is shown that once a controller is designed to satisfy the well-known robust performance condition, a convergent updating rule involving the performance weighting function can be directly obtained. It is also shown that for a particular choice of this weighting function, one can achieve a perfect tracking. In the case where this choice is not allowable, a sufficient condition ensuring that the least upper bound of the /spl Lscr//sub 2/-norm of the final tracking error is less than the least upper bound of the /spl Lscr//sub 2/-norm of the initial tracking error is provided. This sufficient condition also guarantees that the infinity-norm of the final tracking error is less than the infinity-norm of the initial tracking error. |
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