Robust Stability for Iterative Learning Control
Robust Stability for Iterative Learning Control
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.
955-960
Bradley, Richard
7025d2c5-06a6-4403-a656-d2b53bf5d7dc
French, Mark
22958f0e-d779-4999-adf6-2711e2d910f8
10 June 2009
Bradley, Richard
7025d2c5-06a6-4403-a656-d2b53bf5d7dc
French, Mark
22958f0e-d779-4999-adf6-2711e2d910f8
Bradley, Richard and French, Mark
(2009)
Robust Stability for Iterative Learning Control.
American Control Conference, St. Louis, MO, United States.
.
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Conference or Workshop Item
(Paper)
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.
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Published date: 10 June 2009
Additional Information:
Event Dates: June 2009
Venue - Dates:
American Control Conference, St. Louis, MO, United States, 2009-06-01
Organisations:
Southampton Wireless Group
Identifiers
Local EPrints ID: 267643
URI: http://eprints.soton.ac.uk/id/eprint/267643
PURE UUID: 7668f4b9-7bc9-43ea-9d35-29e06bd981ce
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Date deposited: 22 Sep 2009 10:32
Last modified: 14 Mar 2024 08:55
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Contributors
Author:
Richard Bradley
Author:
Mark French
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