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A 2D Systems Approach to Iterative Learning Control with Experimental Validation
World Congress, Volume # 17 | Part# 1
Authors
Hladowski, Lukasz; Galkowski, Krzysztof; Cai, Zhonglun; Rogers, Eric; Freeman, Christopher Thomas; Lewin, Paul
Identifier
10.3182/20080706-5-KR-1001.00477
Index Terms
Iterative learning control; Iterative modelling and control design
Abstract
In this paper we use a 2D systems setting to develop new results on iterative learning control for linear plants. It is well known in the subject area that a trade-off exists between speed of convergence and transient response. Here we give new results in this area by designing the control scheme using a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial). The resulting design computations are in terms of Linear Matrix Inequalities (LMIs) and they are also experimentally validated on a gantry robot.
References
Iterative Learning Control, 2D System, Linear Repetitive Process, Gantry robot, Linear Matrix Inequality, ILC, LRP