NDLI: A discrete-time design of robust iterative learning controllers

Content Provider	IEEE Xplore Digital Library
Author	Ishihara, T. Abe, K. Takeda, H.
Copyright Year	1971
Abstract	A simple discrete-time design of robust iterative learning controllers taking account of the transient behavior as well as the uncertainty of a plant is proposed. Using the impulse response sequence of a plant, a simple finite-dimensional formulation of the problem is given. Assuming that a nominal impulse response sequence is given, a design based on the minimization of a quadratic performance index that can be regarded as a measure for the transient performance is proposed. The effect of the error in the impulse response data is analyzed. It is shown that an excessively high-order controller is not robust in the sense that the error severely deteriorates the transient performance. To obtain a robust controller with a reasonable order, a design based on a probabilistic modeling of the error in the impulse response data is proposed. The controller is obtained by minimizing an averaged quadratic performance index. Simulation examples are presented to illustrate the effectiveness of the proposed methods.<>
Starting Page	74
Ending Page	84
Page Count	11
File Size	972133
File Format	PDF
ISSN	00189472
Volume Number	22
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-01-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Error correction Uncertainty Open loop systems Performance analysis Data analysis Robustness Iterative algorithms Control systems Trajectory
Content Type	Text
Resource Type	Article
Subject	Engineering

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