NDLI: Design of iterative learning controller based on frequency domain linear matrix inequality

Content Provider	IEEE Xplore Digital Library
Author	Inaba, K. Chun-Chih Wang Tomizuka, M. Packard, A.
Copyright Year	2009
Description	Author affiliation: Fanuc ltd., Oshino-mura Yamanashi, Japan (Inaba, K.) \|\| FormFactor Inc., Livermore CA., USA (Chun-Chih Wang) \|\| Faculty in the Department of Mechanical Engineering, University of California Berkeley, USA (Tomizuka, M.; Packard, A.)
Abstract	This paper presents an iterative learning controller (ILC) design method based on a frequency domain linear matrix inequality (LMI). It modifies the LMI method for lifted system representation. In lifted system representation, the size of matrices grows as the number of samples in the system increase. In the proposed approach, the size of matrices in LMI is independent of the number of samples in the system, avoiding computational problems due to the size of matrices. The order of controllers can be low, even if the order of the system is high, unlike H∞ method. Compatibility with frequency domain robust theory and easy extension to MIMO system is another advantage. Zero-phase weighting functions are introduced to shape the filters to increase robustness to the disturbance in high frequency range. This paper also examines the monotonic convergence of the output of the feedback controllers after implementing ILC. The performance of the designed ILC is verified by experiments performed on an industrial robot.
Starting Page	246
Ending Page	251
File Size	844779
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160710
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Frequency domain analysis Linear matrix inequalities Robustness Iterative methods Design methodology Control systems MIMO Filters Convergence Adaptive control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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