Iterative learning control for continuous-time systems with relative degree: A unified 2-D design approach

SUN Jipeng; U Mingjun

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Iterative learning control for continuous-time systems with relative degree: A unified 2-D design approach

SUN Jipeng 1 *,U Mingjun 2

1.The Seventh Research Division and the Department of Systems and Control, Beihang University, Beijing 100191

2.The Seventh Research Division and the Department of Systems and Control, Beihang University, Beijing 100191, P. R. China

*Correspondence author

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Funding: This work was supported by the MOE （No.20111102120031）

Opened online:31 May 2013

Accepted by: none

Citation: SUN Jipeng,U Mingjun.Iterative learning control for continuous-time systems with relative degree: A unified 2-D design approach[OL]. [31 May 2013] http://en.paper.edu.cn/en_releasepaper/content/4545123

This paper deals with the two-dimensional (2-D) design problem that arises from continuous-time iterative learning control (ILC). A unified ILC scheme is considered for liner time-invariant systems with well-defined relative degree, which provides wider freedom for the updating law formation. It demonstrates that an appropriately defined variable, together with the tracking error, can be employed to establish the Roesser systems based 2-D description of the ILC process. This enables both asymptotic stability and monotonic convergence to be achieved for ILC systems with relative degree. In particular, conditions for the monotonic convergence are described in terms of linear matrix inequalities, which directly give formulas for the updating law design. A simulation test of manipulator is presented to illustrate that the ILC scheme designed via the 2-D approach is effective in addressing ILC systems with a higher-order relative degree.

Keywords:Iterative learning control; 2-D design approach; relative degree; linear matrix inequality

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