Robust iterative learning control with current feedback for uncertain linear systems

Tae-Yong Doh
1999 International Journal of Systems Science  
T ae -Y ong D oh² , J ung -H o M oon² , K young B og J in² and M yung J in C hung² Considering an uncertain plant in iterative learning control (IL C), robust convergence and robust stability are important issues. Since the feedback controller robustly stabilizes the uncertain plant and has an e ect on the convergence, it plays as signi® cant a role as the learning controller does in the IL C system. To deal with both convergence and stability in IL C, we take account of an IL C scheme with
more » ... ent feedback in this paper. First, a few terms related to robust convergence are de® ned and a su cient condition for robust convergence and robust stability free from uncertainty is obtained via structured singular value ( ¹ ) and linear fractional transformations (L FTs). Secondly, a synthesis method is presented on the basis of the proposed condition and D-K iteration. In this method, a feedback controller and learning controllers can be designed at one time and a weighting function is introduced to increase the learning performance. L astly, through a computational experiment, we con® rm the feasibility of the proposed method.
doi:10.1080/002077299292650 fatcat:5bhv6li3ujf2xdbiouw6dcilca