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Iterative learning control for discrete linear systems with Zero Markov parameters using repetitive process stability theory

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6 Author(s)
Hladowski, L. ; Inst. of Control & Comput. Eng., Univ. of Zielona Gora, Zielona Gora, Poland ; Galkowski, K. ; Rogers, E. ; Zhonglun Cai
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This paper considers iterative learning control for the practically relevant case of deterministic discrete linear plants where the first Markov parameter is zero. A 2D systems approach that uses a strong form of stability for linear repetitive processes is used to develop a one step control law design for both trial-to-trial error convergence and along the trial performance. The resulting design computations are completed using linear matrix inequalities, and results from applying the control law to one axis of a gantry robot are also given by way of experimental verification.

Published in:

Intelligent Control (ISIC), 2011 IEEE International Symposium on

Date of Conference:

28-30 Sept. 2011