Digital iterative learning control of compensated linear multivariable plants |
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Authors: | B PORTER S S MOHAMED |
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Affiliation: | Centre for Instrumentation and Automation, University of Salford , Salford, M5 4WT, U.K |
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Abstract: | It is shown that digital iterative learning controllers can be designed for irregular linear multivariable plants by introducing appropriate digital compensators. This demonstration is effected by proving a fundamental theorem which establishes precise sufficient conditions under which iterative learning control is achieved by such digital controllers and compensators in the case of first-order irregular plants. These general results are illustrated by the presentation of numerical results for the digital iterative learning control of a third-order partially irregular plant with two inputs and two outputs. The extension of the results to higher-order irregular plants is discussed. |
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