Robust iterative learning control design via μ-synthesis

Author

Tayebi, A. ; Abdul, S. ; Zaremba, M.B.

Author_Institution

Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont.

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

416

Lastpage

421

Abstract

This paper deals with the robust iterative learning control (ILC) design for uncertain single input-single output (SISO) linear time invariant (LTI) systems. The design procedure is based upon solving the robust performance condition using the Youla parameterization and the mu-synthesis approach to obtain a feedback controller. Thereafter, a convergent iterative rule is obtained in a straightforward manner by using the performance weighting function involved in the robust performance condition. Experimental results on the first three links of a 6-degrees of freedom (6-DOF) robot manipulator are presented to illustrate the effectiveness of the proposed design method

Keywords

control system synthesis; convergence; feedback; invariance; iterative methods; linear systems; robust control; uncertain systems; 6-degrees of freedom robot manipulator; Youla parameterization; convergent iterative rule; feedback controller; performance weighting function; robust iterative learning control design mu-synthesis; robust performance condition; single input-single output linear time invariant systems; Adaptive control; Control design; Convergence; Feedback; Filters; Iterative methods; Lakes; Robust control; Robustness; Technological innovation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507161

Filename

1507161