Observer-based iterative learning control for discrete linear systems in finite frequency domains

被引：0
|
作者：
Zou W. [1 ]
Shen Y.-X. [1 ]
机构：
[1] Engineering Research Center of Internet of Things Technology Applications Ministry of Education, Jiangnan University, Wuxi
来源：
Kongzhi yu Juece/Control and Decision | 2024年 / 39卷 / 05期
关键词：
discrete linear systems; finite frequency range; generalized Kalman-Yakubovich-Popov lemma; iterative learning control; observer-based state feedback;
D O I：
10.13195/j.kzyjc.2022.1705
中图分类号：
学科分类号：
摘要：
For a class of discrete linear systems, this paper deals with the problem of designing an observer-based iterative learning control scheme in the finite frequency range. First, the controller is constructed by combining an observer-based state feedback with a PID-type feedforward learning term on the basis of the two-dimensional system theory. Then, by means of the Kalman–Yakubovich–Popov (KYP) lemma, the finite frequency domain specifications of the resulting closed-loop system are transformed into corresponding linear matrix inequalities (LMI), furthermore, the sufficient conditions for the existence of the controller and the observer are also obtained. Simultaneously, these conditions guarantee the stability of the close-loop controlled system and the monotonic convergence of the tracking error. Finally, the effectiveness of the proposed method is verified by the simulation of a gantry robot. © 2024 Northeast University. All rights reserved.
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页码：1745 / 1753
页数：8
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