Robust Conditions for Iterative Learning Control in State Feedback and Output Injection Paradigm

الملخص EN

A robust Iterative Learning Control (ILC) design that uses state feedback and output injection for linear time-invariant systems is reintroduced.

ILC is a control tool that is used to overcome periodic disturbances in repetitive systems acting on the system input.

The design basically depends on the small gain theorem, which suggests isolating a modeled disturbance system and finding the overall transfer function around the delay model.

This assures disturbance accommodation if stability conditions are achieved.

The reported design has a lack in terms of the uncertainty issue.

This study considered the robustness issue by investigating and setting conditions to improve the system performance in the ILC design against a system’s unmodeled dynamics.

The simulation results obtained for two different systems showed an improvement in the stability margin in the case of system perturbation.