Robust Iterative Learning Controller Design using the Performance Weighting Function of Feedback Control Systems

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Iterative learning controllers combined with existing feedback controllers have prominent capability of improving tracking performance in repeated tasks. However, the iterative learning controller has been designed without utilizing effective information such as the performance weighting function to design a feedback controller. In this paper, we deal with a robust iterative learning controller design problem for an uncertain feedback control system using its explicit performance information. We first propose a robust convergence condition in the L-2-norm sense for an iterative learning control (ILC) scheme. We present a method to design an iterative learning controller using the information on the performance of the existing feedback control system such as performance weighting functions and frequency ranges of desired trajectories. From the obtained results, several design criteria for iterative learning controller are provided. Through analysis on the remaining error, the loop properties before and after learning are compared. We also show that, in the L-2-norm sense, the remaining error can be less than the initial error under certain conditions. Finally, to show the validity of the proposed method, simulation studies are performed.
Publisher
INST CONTROL ROBOTICS & SYSTEMS
Issue Date
2014-02
Language
English
Article Type
Article
Keywords

LTI SYSTEMS; STRAIGHTFORWARD

Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.12, no.1, pp.63 - 70

ISSN
1598-6446
DOI
10.1007/s12555-012-9401-0
URI
http://hdl.handle.net/10203/220767
Appears in Collection
EE-Journal Papers(저널논문)
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