초기 오차와 시간 지연을 고려한 선형 플랜트에 대한 강인한 반복 학습 제어기의 설계

Design of robust iterative learning controller for linear plant with initial error and time-delay

In this paper, we are going to design an iterative learning controller with the robust properties for initial error. For this purpose, the PID-type learning law will be considered and the design guide-line will be presented for the selection of the learning gain. Also, we are going to suggest a condition for the convergence of control input for a plant with input delay. Several simulation results are presented, which shows the effectiveness of the proposed algorithms.