基于2-D Roesser模型的时滞系统迭代学习控制稳定性分析

Stability Analysis of Iterative Learning Control for Time-delay Systems via 2-D Roesser Models

本文讨论了多种类型时滞系统的迭代学习控制问题.针对状态时滞和输入时滞系统分别建立相应的2-D Roesser模型,并通过Roesser模型进行收敛性分析.分析表明,两类系统是否稳定与控制律中引入的伪偏导项无关.伪偏导项虽然不能决定系统是否收敛,但能够影响系统的收敛速度.而且该设计思想不仅对连续时滞系统有效,对于离散时滞系统依然有效.最后的仿真算例验证了算法的有效性.

This paper discusses the iterative learning control of various types of time-delay systems.2-D Roesser models are established for state-delay and input-delay systems respectively,and the convergence analysis is performed through the Roesser model.The analysis shows that the stability of the each system has nothing to do with the pseudo-partial derivative terms introduced in the control law.Although the pseudo-partial derivative terms cannot determine whether the system converges or not,it can affect the convergence speed of the system.And the design idea is not only valid for continuous time-delay systems,but also for discrete time-delay systems.The final simulation examples verify the effectiveness of the algorithms.