论文信息 - ROBUST ILC DESIGN IS STRAIGHTFORWARD FOR UNCERTAIN LTI SYSTEMS SATISFYING THE ROBUST PERFORMANCE CONDITION

ROBUST ILC DESIGN IS STRAIGHTFORWARD FOR UNCERTAIN LTI SYSTEMS SATISFYING THE ROBUST PERFORMANCE CONDITION

This paper demonstrates that the design of a robust feedback-based Iterative Learning Control (ILC) is straightforward for uncertain linear time invariant (LTI) systems satisfying the robust performance condition. It is shown that once a controller is designed to satisfy the well known robust performance condition, a convergent updating rule involving the performance weighting function can be directly obtained. It is also shown that for a particular choice of this weighting function, one can achieve a perfect tracking.

Marek B. Zaremba | Abdelhamid Tayebi

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