2D systems based robust iterative learning control using noncausal finite-time interval data

• Published in: Systems & control letters Vol. 64; pp. 36 - 42
• Main Authors: Cichy, Błażej, Gałkowski, Krzysztof, Rogers, Eric
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.02.2014
• Subjects: 2D systems; Algorithms; Control systems; Design engineering; Iterative learning control; Iterative methods; Learning; Mathematical analysis; Noncausal data; Robust control; Stability; Two dimensional; Robust control; Noncausal data; 2D systems; Iterative learning control
• ISSN: 0167-6911; 1872-7956; 1872-7956
• DOI: 10.1016/j.sysconle.2013.11.002

This paper uses a 2D system setting in the form of repetitive process stability theory to design an iterative learning control law that is robust against model uncertainty. In iterative learning control the same finite duration operation, known as a trial over the trial length, is performed over and over again with resetting to the starting location once each is complete, or a stoppage at the end of the current trial before the next one begins. The basic idea of this form of control is to use information from the previous trial, or a finite number thereof, to compute the control input for the next trial. At any instant on the current trial, data from the complete previous trial is available and hence noncausal information in the trial length indeterminate can be used. This paper also shows how the new 2D system based design algorithms provide a setting for the effective deployment of such information.