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In this paper, we present a robust Iterative Learning Control (ILC) design for linear systems in the presence of time-varying parametric uncertainties. The robust ILC design is formulated as a min-max problem using a quadratic performance criterion subject to constraints of the control input update where the system model contains time-varying parametric uncertainties. An upper bound of the worst-case...
In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate...
This paper presents a novel algorithm of the robust iterative learning control for linear systems subject to time-invariant parametric uncertainties. The design problem is formulated as a min-max problem with a quadratic performance criterion. Then, we derive an upper-bound of the worst-case performance. Applying Lagrange duality to the minimization problem leads to a dual problem which can be reformulated...
In this paper, a new robust Iterative Learning Control (ILC) algorithm has been proposed for linear systems in the presence of iteration-varying parametric uncertainties. The robust ILC design is formulated as a min-max problem using a quadratic performance criterion subject to constraints of the control input update. An upper bound of the maximization problem is derived, then, the solution of the...
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