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Experimentally verified multi-objective iterative learning control design with frequency domain specifications

Experimentally verified multi-objective iterative learning control design with frequency domain specifications
Experimentally verified multi-objective iterative learning control design with frequency domain specifications
This paper considers the design of multi-objective iterative learning control (ILC) schemes for discrete linear systems. In particular, a two step design approach is developed where the feedback and learning controllers are designed separately. The design procedures developed are able to impose performance specifications over selected frequency ranges to obtain the desired shapes of the sensitivity functions relevant to a particular example. This makes it possible to reject disturbances in specific frequency ranges and hence the desired performance specifications for both the transient response and error convergence speed can be achieved. All design computations required can be completed using linear matrix inequalities (LMIs). Preliminary experimental results demonstrate the effectiveness of the new design.
3143-3148
IEEE
Paszke, Wojciech
cb0ed465-63b4-4165-8606-fe76dc7f4752
Patan, Krzysztof
ed81c4e0-a3b1-4e42-b0aa-361721ac6fbe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Paszke, Wojciech
cb0ed465-63b4-4165-8606-fe76dc7f4752
Patan, Krzysztof
ed81c4e0-a3b1-4e42-b0aa-361721ac6fbe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Paszke, Wojciech, Patan, Krzysztof and Rogers, Eric (2018) Experimentally verified multi-objective iterative learning control design with frequency domain specifications. In 2018 European Control Conference, ECC 2018. IEEE. pp. 3143-3148 . (doi:10.23919/ECC.2018.8550208).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper considers the design of multi-objective iterative learning control (ILC) schemes for discrete linear systems. In particular, a two step design approach is developed where the feedback and learning controllers are designed separately. The design procedures developed are able to impose performance specifications over selected frequency ranges to obtain the desired shapes of the sensitivity functions relevant to a particular example. This makes it possible to reject disturbances in specific frequency ranges and hence the desired performance specifications for both the transient response and error convergence speed can be achieved. All design computations required can be completed using linear matrix inequalities (LMIs). Preliminary experimental results demonstrate the effectiveness of the new design.

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Experimentally verified multi-objective iterative learning control design - Accepted Manuscript
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More information

Accepted/In Press date: 8 February 2018
Published date: 27 November 2018
Additional Information: Will need embargo until at least the end of the conference.
Venue - Dates: ECC 2018, Cyprus, 2018-06-12 - 2018-06-15

Identifiers

Local EPrints ID: 418182
URI: http://eprints.soton.ac.uk/id/eprint/418182
PURE UUID: bf25d307-c20d-479c-ab6f-c845d2e53c4a
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 23 Feb 2018 17:30
Last modified: 07 Oct 2020 01:34

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