Robust Iterative Learning Control for linear systems subject to time-invariant parametric uncertainties and repetitive disturbances

@article{Nguyen2010RobustIL,
  title={Robust Iterative Learning Control for linear systems subject to time-invariant parametric uncertainties and repetitive disturbances},
  author={Dinh Hoa Nguyen and David Banjerdpongchai},
  journal={ECTI-CON2010: The 2010 ECTI International Confernce on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology},
  year={2010},
  pages={346-350}
}
This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as a min-max problem with a quadratic performance index subjected to constraints of the control input. Employing Lagrange duality, we can reformulate the robust ILC design as a convex optimization problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC… CONTINUE READING
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