Title :
Linear Parameter Varying Iterative Learning Control
Author :
Butcher, Mark ; Karimi, Alireza
Author_Institution :
Autom. Control Lab., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland
Abstract :
In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown. The proposed algorithm is tested in simulation and the obtained tracking performance is compared with that obtained using a standard Linear Time Invariant ILC algorithm. Better results are obtained using the proposed method.
Keywords :
iterative methods; learning systems; linear systems; iterative learning control algorithm; linear parameter varying systems; standard linear time invariant ILC algorithm; stochastic disturbances; Automatic control; Control systems; Dynamic scheduling; Iterative algorithms; Iterative methods; Noise measurement; Robot sensing systems; Stochastic processes; Stochastic resonance; Testing; Learning control systems; iterative learning control; linear parameter-varying system;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400885
