Set-point-related indirect iterative learning control for multi-input multi-output systems |
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Authors: | Zhen-Yu Huo Zhu Yang Yan-Jun Pang |
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Affiliation: | 1. School of Information Science and Electrical Engineering, Hebei University of Engineering, Handan, 056038, PRC 2. School of Science, Hebei University of Engineering, Handan, 056038, PRC 3. Institute of Uncertainty Mathematics, Hebei University of Engineering, Handan, 056038, PRC
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Abstract: | A form of iterative learning control (ILC) is used to update the set-point for the local controller. It is referred to as set-point-related (SPR) indirect ILC. SPR indirect ILC has shown excellent performance: as a supervision module for the local controller, ILC can improve the tracking performance of the closed-loop system along the batch direction. In this study, an ILC-based P-type controller is proposed for multi-input multi-output (MIMO) linear batch processes, where a P-type controller is used to design the control signal directly and an ILC module is used to update the set-point for the P-type controller. Under the proposed ILC-based P-type controller, the closed-loop system can be transformed to a 2-dimensional (2D) Roesser s system. Based on the 2D system framework, a sufficient condition for asymptotic stability of the closed-loop system is derived in this paper. In terms of the average tracking error (ATE), the closed-loop control performance under the proposed algorithm can be improved from batch to batch, even though there are repetitive disturbances. A numerical example is used to validate the proposed results. |
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Keywords: | Iterative learning control (ILC) indirect ILC multi-input multi-output (MIMO) 2-dimensional system asymptotical stability linear matrix inequality (LMI) |
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