离散线性系统的单调迭代学习控制

Monotonically convergent iterative learning control for linear discrete-time systems

针对一类离散线性系统,提出一种单调收敛的迭代学习控制策略.(1)将离散系统转化为二维系统模型来表示;(2)基于一个简单的二次性能函数,对系统进行了稳定性分析,并得到了系统单调收敛的充分条件,该充分条件由一个线性矩阵不等式(LMI)表示,此外,迭代学习控制律的增益也可由该LMI求得;(3)通过一个仿真实例,验证文章提出的迭代学习控制方法的有效性.

This paper addresses the problem of monotonically convergent iterative learning control( ILC) for a class of linear discrete-time systems. First,the discrete system is expressed in two-dimensional system representation. Then,based on a simple quadratic performance function,the stability of the system is analysized,and a sufficient condition for monotonic convergence of the proposed learning algorithm is presented in terms of linear matrix inequality( LMI) which can determine the learning gains. Finally,the simulation results are presented to demonstrate the effectiveness of the proposed ILC scheme.