线性时滞系统H_∞迭代学习控制器的设计

An H_∞ Synthesis of a Iterative Learning Controller for Linear Delay Systems

推导采用闭环迭代学习律的系统收敛充分条件 ,分析该条件并把迭代学习控制设计问题转化为H∞ 输出反馈设计问题 ,然后用线性矩阵不等式 (LMI)方法 ,系统设计线性时滞系统迭代学习控制器 .

In this paper,we derive a sufficient condition of convergence for the iterative learning system which learning law is updated using current error.Based on this condition,it is shown that the synthesis of a iterative learning controller can be reformulated as a synthesis of an H ∞(sub)optimal controller which can be solved based on linear matrix inequality approach.Simulation results show the effectiveness of the proposed method.