迭代学习控制与等效的反馈控制

The Equivalence of Iteative Learning Control and Feedback Control

基于算子理论推导迭代学习控制 (ILC)收敛的充分条件和跟踪误差 .研究表明对于任何因果时不变线性系统 (LTI)的ILC都存在等效反馈控制 ,可获得相同的跟踪误差 ,并且反馈控制器的参数仅与ILC的参数有关而与系统参数无关 .即使被控系统未知 。

This paper derives a sufficient condition of convergence for the iterative learning system and an expression for the ultimate tracking error by operator theory,and shows that for any causal LTI ILC,there exits a feedback control that achieves an error arbitrarily close to the ultimate ILC error.This feedback control can be constructed from the ILC parameters without knowledge of the plant.It is shown that ILC provides no benefit over conventional feedback control,even when no plant knowledge is available.