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A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters

A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters
A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters
In this paper 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 con-sideration 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.
0020-3270
1246-1262
Hladowski, L
c557e4e1-c08c-4fb6-84d8-909f15786fcb
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Hladowski, L
c557e4e1-c08c-4fb6-84d8-909f15786fcb
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Hladowski, L, Galkowski, K, Cai, Z, Rogers, E, Freeman, C T and Lewin, P L (2011) A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters. International Journal of Control, 84 (7), 1246-1262.

Record type: Article

Abstract

In this paper 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 con-sideration 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.

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Published date: 2 August 2011
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 272145
URI: http://eprints.soton.ac.uk/id/eprint/272145
ISSN: 0020-3270
PURE UUID: dfd3dae9-28cc-4474-8468-530328acb031
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 05 Apr 2011 15:53
Last modified: 12 Nov 2019 02:03

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