D型闭环迭代学习控制的2-D模型及收敛性分析

D-type Closed-loop Iterative Learning Control 2-D model and Its Convergence Analysis

本文将 2 D线性连续 离散系统理论应用于连续线性迭代学习控制系统中 ,给出能很好反映迭代学习控制过程的数学模型 2 D线性连续 -离散系统Roessor模型。在 2 D系统理论上证明了D型闭环迭代学习控制律的收敛性。根据该理论设计的闭环迭代学习控制器 ,受到的限制较小。

D continuous discrete system theory was applied to closed loop iterative learning control. The 2 D continuous discrete Roesser's type linear model is presented. The model can represent the LCS well. The convergence condition of D type closed loop iterative learning control is proved and the learning rule based on the 2 D system theory is less restrictive.