제어로봇시스템학회:학술대회논문집
- 1996.10a
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- Pages.303-306
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- 1996
Robust tuning of quadratic criterion-based iterative learning control for linear batch system
- Kim, Won-Cheol (Department of Chemical Engineering, Sogang University) ;
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Lee, Kwang-Soon
(Department of Chemical Engineering, Sogang University)
- Published : 1996.10.01
Abstract
We propose a robust tuning method of the quadratic criterion based iterative learning control(Q-ILC) algorithm for discrete-time linear batch system. First, we establish the frequency domain representation for batch systems. Next, a robust convergence condition is derived in the frequency domain. Based on this condition, we propose to optimize the weighting matrices such that the upper bound of the robustness measure is minimized. Through numerical simulation, it is shown that the designed learning filter restores robustness under significant model uncertainty.
Keywords