Robust Stability for Iterative Learning Control
Bradley, Richard and French, Mark (2009) Robust Stability for Iterative Learning Control. In, American Control Conference, St. Louis, MO, USA, , 955-960.
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Description/Abstract
The phenomenon of long term instability of iterative learning control systems is examined. The concept of stability with respect to a specified trajectory is used to define a nonlinear biased gap metric. The resulting robust stability theorem, applied in a 2D setting, is used to prove the robust stability of a set of ILC algorithms engaged in trajectory tracking. The robust stability guarantee is dependent on the gain of the system from input and output disturbances to internal signals. This gain is calculated for a set of linear ILC algorithms to provide a guide to the trade-offs between tracking accuracy and robust stability.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Additional Information: | Event Dates: June 2009 |
| Divisions: | Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control |
| Item ID: | 267643 |
| Date Deposited: | 22 Sep 2009 10:32 |
| Last Modified: | 26 Apr 2013 04:39 |
| Contributors: | Bradley, Richard (Author) French, Mark (Author) |
| Date: | 10 June 2009 |
| Additional Information: | Event Dates: June 2009 |
| Status: | Published |
| Further Information: | Google Scholar |
| ISI Citation Count: | 0 |
| URI: | http://eprints.soton.ac.uk/id/eprint/267643 |
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