Name
Title | ||
|---|---|---|
Frequency-Domain Analysis of Robust Monotonic Convergence of Norm-Optimal Iterative Learning Control. |
Abstract | ||
|---|---|---|
In this paper, we consider the norm-optimal iterative learning control (NO-ILC) framework and study its robust monotonic convergence (RMC) against model uncertainties in single-input-single-output linear time-invariant systems. Modeling errors in general degrade the convergence performance of NO-ILC, and hence ensuring RMC against model uncertainties is important. Although the robustness of NO-ILC has been studied in the literature, determining the allowable range of modeling errors for a given NO-ILC design is still an open research question. To fill this gap, a frequency-domain analysis with a multiplicity formulation of model uncertainty is developed in this paper to quantify and visualize the allowable modeling errors. Compared with the traditional formulation, the proposed new uncertainty formulation provides a less conservative representation of the allowable model uncertainty range by taking additional phase information into account and thus allows for a more complete evaluation of the robustness of NO-ILC. The analysis also clarifies how the RMC region changes as a function of NO-ILC weighting parameters and therefore can be used as a frequency-domain design tool to achieve RMC for given model uncertainties. Simulation examples are given to confirm the theoretical conclusions and demonstrate the utility of the developed analysis. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TCST.2017.2692729 | IEEE Trans. Contr. Sys. Techn. |
Keywords | Field | DocType |
Uncertainty,Frequency-domain analysis,Robustness,Convergence,Analytical models,Tools,Asymptotic stability | Frequency domain,Convergence (routing),Monotonic function,Mathematical optimization,Weighting,Control theory,Design tool,Robustness (computer science),Exponential stability,Iterative learning control,Mathematics | Journal |
Volume | Issue | ISSN |
26 | 2 | 1063-6536 |
Citations | PageRank | References |
6 | 0.43 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xinyi Ge | 1 | 6 | 1.11 |
| Jeffrey L. Stein | 2 | 158 | 27.02 |
| Tulga Ersal | 3 | 33 | 15.63 |