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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
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.
CD-ROM
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
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
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Hladowski, L
c557e4e1-c08c-4fb6-84d8-909f15786fcb
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
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, United States. 28 - 30 Oct 2011. CD-ROM .

Record type: 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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More information

Published date: 28 September 2011
Additional Information: Event Dates: 28-30 October 2011
Venue - Dates: 2011 IEEE Multi-Conference on Systems and Control, 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
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 17 Feb 2012 15:10
Last modified: 20 Jul 2019 01:23

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Contributors

Author: L Hladowski
Author: K Galkowski
Author: E Rogers ORCID iD
Author: Z Cai
Author: C T Freeman
Author: P L Lewin

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