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A 2D Systems Approach to Iterative Learning Control for Discrete Linear Processes with Zero First Markov Parameter

A 2D Systems Approach to Iterative Learning Control for Discrete Linear Processes with Zero First Markov Parameter
A 2D Systems Approach to Iterative Learning Control for Discrete Linear Processes with Zero First Markov Parameter
In this paper we develop a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants where the first Markov parameter is zero. The basis for this is a 2D systems approach that, by using a strong form of stability for linear repetitive processes, also allows us to consider both trial-to-trial and along the trial performance. This is in contrast to many other approaches where the sole emphasis is on error convergence. The resulting design computations are in terms of Linear Matrix Inequalities (LMIs). Results from experimentally applying the resulting control law to one axis of a gantry robot are also given.
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Hladowski, Lukasz
db41c3fd-6c9e-48e8-81e7-9613072c59b5
Galkowski, Krzysztof
322994ac-7e24-4350-ab72-cc80ac8078ef
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2009) A 2D Systems Approach to Iterative Learning Control for Discrete Linear Processes with Zero First Markov Parameter. Symposium on Learning Control at IEEE CDC 2009. 14 - 15 Dec 2009.

Record type: Conference or Workshop Item (Paper)

Abstract

In this paper we develop a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants where the first Markov parameter is zero. The basis for this is a 2D systems approach that, by using a strong form of stability for linear repetitive processes, also allows us to consider both trial-to-trial and along the trial performance. This is in contrast to many other approaches where the sole emphasis is on error convergence. The resulting design computations are in terms of Linear Matrix Inequalities (LMIs). Results from experimentally applying the resulting control law to one axis of a gantry robot are also given.

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More information

Published date: 14 December 2009
Additional Information: Event Dates: December 14-15, 2009
Venue - Dates: Symposium on Learning Control at IEEE CDC 2009, 2009-12-14 - 2009-12-15
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 266859
URI: https://eprints.soton.ac.uk/id/eprint/266859
PURE UUID: b0b0dd44-50ad-4b4c-b18c-f14e63a14315
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 04 Nov 2008 11:16
Last modified: 14 Jun 2019 00:39

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