不确定线性系统迭代学习控制器的设计

Synthesis of an iterative learning controller for uncertain linear systems

推导出采用闭环动态迭代学习律的不确定线性系统收敛充分条件 ,把它转化为系统输出反馈H∞ 控制问题 ,然后用线性矩阵不等式 (LMI)方法系统设计迭代学习控制器 ,控制器具有鲁棒性较强、阶次较低等优点 .最后仿真结果表明该设计方法的有效性 .

A sufficient condition of convergence for the uncertain liear system with closed_loop iterative learning law is derived. Based on this condition, it is shown that the synthesis of an iterative learning controller can be reformulated as a synthesis of an H ∞(sub)optimal controller which can be solved based on LMI approach. As a result, The designed controller is robust and lower order. Simulation results show the effectiveness of the proposed method.