Iterative Learning Control for Discrete Linear Systems with Zero Markov Parameters Using Repetitive Process Stability Theory
Iterative Learning Control for Discrete Linear Systems with Zero Markov Parameters Using Repetitive Process Stability Theory
This paper considers iterative learning control for the practically relevant case of deterministic discrete linear plants where the first Markov parameter is zero. A 2D systems approach that uses a strong form of stability for linear repetitive processes is used to develop a one step control law design for both trial-to-trial error convergence and along the trial performance. The resulting design computations are completed using linear matrix inequalities, and results from applying the control law to one axis of a gantry robot are also given by way of experimental verification.
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Hladowski, L
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Galkowski, K
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Rogers, E
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Cai, Z
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Freeman, C T
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Lewin, P L
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28 September 2011
Hladowski, L
c557e4e1-c08c-4fb6-84d8-909f15786fcb
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Cai, Z
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Freeman, C T
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Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Hladowski, L, Galkowski, K, Rogers, E, Cai, Z, Freeman, C T and Lewin, P L
(2011)
Iterative Learning Control for Discrete Linear Systems with Zero Markov Parameters Using Repetitive Process Stability Theory.
2011 IEEE Multi-Conference on Systems and Control, Denver, Colorado, United States.
28 - 30 Oct 2011.
.
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Conference or Workshop Item
(Paper)
Abstract
This paper considers iterative learning control for the practically relevant case of deterministic discrete linear plants where the first Markov parameter is zero. A 2D systems approach that uses a strong form of stability for linear repetitive processes is used to develop a one step control law design for both trial-to-trial error convergence and along the trial performance. The resulting design computations are completed using linear matrix inequalities, and results from applying the control law to one axis of a gantry robot are also given by way of experimental verification.
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Published date: 28 September 2011
Additional Information:
Event Dates: 28-30 October 2011
Venue - Dates:
2011 IEEE Multi-Conference on Systems and Control, Denver, Colorado, United States, 2011-10-28 - 2011-10-30
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 273218
URI: http://eprints.soton.ac.uk/id/eprint/273218
PURE UUID: 947a4f52-0ced-4616-9024-674bb2274986
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Date deposited: 17 Feb 2012 15:10
Last modified: 11 Dec 2024 02:39
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Contributors
Author:
L Hladowski
Author:
K Galkowski
Author:
E Rogers
Author:
Z Cai
Author:
C T Freeman
Author:
P L Lewin
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