A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters
Abstract
In this article a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous consideration of both trial-to-trial error convergence and along the trial performance, resulting in design algorithms that can be computed using linear matrix inequalities (LMIs). Finally, the control laws are experimentally verified on a gantry robot that replicates a pick and place operation commonly found in a number of applications to which iterative learning control is applicable.
- Publication:
-
International Journal of Control
- Pub Date:
- July 2011
- DOI:
- 10.1080/00207179.2011.575799
- Bibcode:
- 2011IJC....84.1246H
- Keywords:
-
- iterative learning control;
- repetitive process;
- experimental verification