Algebraic $H_infty$ Design of Higher-Order Iterative Learning Controllers
Moore, K.L.; YangQuan Chen; Hyo-Sung Ahn
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Volume , Issue , 27-29 June 2005 Page(s):1207 - 1212
Digital Object Identifier   10.1109/.2005.1467187
Summary:This paper presents an H_infin-based design technique for synthesis of higher-order iterative learning controllers (ILC) for plants subject to iteration-domain input/output disturbances and plant model uncertainty. Using a formulation of the higher-order ILC problem into a high-dimensional MIMO discrete-time system, it is shown how the addition of input/output disturbances and plant model uncertainty to the ILC problem can be cast into a standard H_infin framework. An algebraic approach to solving the problem in this framework is presented, resulting in a sub-optimal controller that can achieve both stability and robust performance. The key observation is that H_infin synthesis can be used for higher-order ILC design to achieve reliable performance in the presence of iteration-varying external disturbances and model uncertainty

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