NDLI: Robust Iterative Learning Control for flexible link under parametric uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Nguyen, D.H. Banjerdpongchai, D.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University, 254 Phayathai Road, Pathumwan, Bangkok 10330 Thailand (Nguyen, D.H.; Banjerdpongchai, D.)
Abstract	In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate the robust ILC design as a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is given. Finally, the simulation results for a single flexible link are presented to illustrate the effectiveness of the proposed robust ILC algorithm.
Starting Page	376
Ending Page	379
File Size	212493
Page Count	4
File Format	PDF
ISBN	9781424433872
DOI	10.1109/ECTICON.2009.5137030
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-06
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Uncertainty Linear matrix inequalities uncertain linear systems min-max problem Lagrangian functions Flexible link Design optimization Robust control Upper bound linear matrix inequalities iterative learning control Robustness Iterative algorithms Performance analysis quadratic performance
Content Type	Text
Resource Type	Article

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