Iterative Learning Control Study on Single Inverted Pendulum

Author

Zhang, Xianhe ; Wu, Jie ; Zhan, Xisheng

Author_Institution

Dept. of Control Sci. & Eng., Hubei Normal Univ., Huangshi

fYear

2008

fDate

21-22 Dec. 2008

Firstpage

155

Lastpage

158

Abstract

Iterative learning control method is proposed for the single pendulum which is a typical fast-speed multi- variable nonlinear absolutely unstable system. The closed loop iterative learning algorithm based on Lyapunov theory is presented, where the sufficient condition of convergence for closed loop iterative learning algorithm is proposed. The closed loop iterative learning control gains are designed through resolving LMI method. Simulation results show the effectiveness and feasibility of the proposed method.

Keywords

Lyapunov matrix equations; closed loop systems; iterative methods; linear matrix inequalities; nonlinear systems; pendulums; LMI method; Lyapunov theory; closed loop iterative learning algorithm; closed loop iterative learning control gains; linear matrix inequalities; multivariable nonlinear unstable system; single inverted pendulum; Control systems; Convergence; Costs; Equations; Information technology; Iterative algorithms; Iterative methods; Nonlinear control systems; Open loop systems; Sufficient conditions; Iterative learning control; LMI; Lyapunov theory; Single inverted pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Information Technology Application Workshops, 2008. IITAW '08. International Symposium on

Conference_Location

Shanghai

Print_ISBN

978-0-7695-3505-0

Type

conf

DOI

10.1109/IITA.Workshops.2008.242

Filename

4731903