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Using 2D systems theory to design output signal based iterative learning control laws with experimental verification

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6 Author(s)
Lukasz Hladowski ; Institute of Control and Computation Engineering, University of Zielona, Gora, Poland ; Zhonglun Cai ; Krzysztof Galkowski ; Eric Rogers
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In this paper we use a 2D systems setting to develop new results on iterative learning control for linear plants, where it is well known in the subject area that a trade-off exists between speed of convergence and the response along the trials. Here we give new results by designing the control scheme using a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial). The resulting design computations are in terms of Linear Matrix Inequalities (LMIs) and they are also experimentally validated on a gantry robot. The control laws only use plant output information and hence the use of a state observer is avoided.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008