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Optimal path tracking seeks the optimal motion along a given geometric path according to a desired objective while taking system dynamics and constraints into account. In the case of time-optimal path tracking, the system inputs to track a given path while achieving minimal execution time are computed. In practice however, due to an imperfect plant model, the computed inputs might be suboptimal, result...
This paper addresses robust performance analysis and synthesis of lifted system iterative learning control (ILC). By applying the full block S-procedure, sufficient conditions for the robust performance of ILC with both unstructured and structured uncertainty are derived. In the synthesis problem, we consider the design of the learning filter Q for modelinversion based ILC. The problem is reformulated...