基于2维模型的鲁棒迭代学习控制系统设计

Design of Robust Iterative-Learning-Control Systems Based on Two-Dimensional Model

摘要: 针对具有时变周期不确定性的线性系统，提出了基于线性矩阵不等式（LMI）的P型鲁棒迭代学习控制（ILC）设计方法．建立能准确描述ILC 过程的连续——离散2维（2D）模型，以LMI 形式给出系统鲁棒稳定的充分条件，并将条件应用于控制器参数的设计．最后，数值仿真实例验证了所提方法的正确性．

Abstract: A robust P-type iterative-learning-control (ILC) system is proposed for the linear systems with time-varying periodic uncertainties based on linear matrix inequality (LMI). A continuous-discrete two-dimensional (2D) model is built that can describe the process of the ILC system accurately. A sufficient condition of robust stability is presented in the form of an LMI and used to design the parameters of the controller. Finally, a numerical example verifies the correctness of the proposed method.