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Robust Stability for Iterative Learning Control

Bradley, Richard and French, Mark (2009) Robust Stability for Iterative Learning Control At American Control Conference, United States. , pp. 955-960.

Record type: Conference or Workshop Item (Paper)


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, United States, 2009-06-01
Organisations: Southampton Wireless Group


Local EPrints ID: 267643
PURE UUID: 7668f4b9-7bc9-43ea-9d35-29e06bd981ce

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Date deposited: 22 Sep 2009 10:32
Last modified: 18 Jul 2017 07:01

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Author: Richard Bradley
Author: Mark French

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