Experimentally verified generalized KYP Lemma based iterative
learning control design
Experimentally verified generalized KYP Lemma based iterative
learning control design
This paper considers iterative learning control algorithm design for~plants modeled by discrete linear dynamics using repetitive process stability theory. The resulting one step linear matrix inequality based design produces a~stabilizing feedback controller in~the~time domain and a~feedforward controller that guarantees convergence in the~trial-to-trial domain. Additionally, application of the~generalized Kalman-Yakubovich-Popov (KYP) lemma allows a~direct treatment of finite frequency range performance specifications. To support the algorithm development, the results from an experimental implementation are given, where the performance requirements include specifications over~various finite frequency ranges.
57-67
Paszke, W.
dd4b8f12-17c7-45ee-bfb0-e9675bd7d854
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Galkowski, K.
40c02cf5-8fcb-44de-bb1e-f9f70fdd265d
August 2016
Paszke, W.
dd4b8f12-17c7-45ee-bfb0-e9675bd7d854
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Galkowski, K.
40c02cf5-8fcb-44de-bb1e-f9f70fdd265d
Paszke, W., Rogers, E. and Galkowski, K.
(2016)
Experimentally verified generalized KYP Lemma based iterative
learning control design.
Control Engineering Practice, 53, .
(doi:10.1016/j.conengprac.2016.04.011).
Abstract
This paper considers iterative learning control algorithm design for~plants modeled by discrete linear dynamics using repetitive process stability theory. The resulting one step linear matrix inequality based design produces a~stabilizing feedback controller in~the~time domain and a~feedforward controller that guarantees convergence in the~trial-to-trial domain. Additionally, application of the~generalized Kalman-Yakubovich-Popov (KYP) lemma allows a~direct treatment of finite frequency range performance specifications. To support the algorithm development, the results from an experimental implementation are given, where the performance requirements include specifications over~various finite frequency ranges.
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NewCEPpaperFinal.pdf
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More information
Accepted/In Press date: 17 April 2016
e-pub ahead of print date: 11 May 2016
Published date: August 2016
Organisations:
Vision, Learning and Control
Identifiers
Local EPrints ID: 380808
URI: http://eprints.soton.ac.uk/id/eprint/380808
ISSN: 0967-0661
PURE UUID: 04a565b3-1658-41e2-bc58-e124f1d67da3
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Date deposited: 22 Aug 2015 10:02
Last modified: 15 Mar 2024 05:20
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Contributors
Author:
W. Paszke
Author:
E. Rogers
Author:
K. Galkowski
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