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Experimentally verified generalized KYP Lemma based iterative learning control design

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.
0967-0661
57-67
Paszke, W.
dd4b8f12-17c7-45ee-bfb0-e9675bd7d854
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Galkowski, K.
40c02cf5-8fcb-44de-bb1e-f9f70fdd265d
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, 57-67. (doi:10.1016/j.conengprac.2016.04.011).

Record type: Article

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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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
ORCID for E. Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 22 Aug 2015 10:02
Last modified: 07 Oct 2020 06:20

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