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Simple LMI based learning control design
Author(s) -
Ye Yongqiang,
Wang Danwei,
Zhang Bin,
Wang Yigang
Publication year - 2009
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.82
Subject(s) - iterative learning control , linear matrix inequality , simple (philosophy) , control theory (sociology) , tracking error , monotonic function , control (management) , norm (philosophy) , scara , computer science , control engineering , mathematical optimization , mathematics , robot , engineering , artificial intelligence , mathematical analysis , philosophy , epistemology , political science , law
In this note, a simple linear matrix inequality (LMI) design method is proposed for iterative learning control (ILC). The design can ensure a monotonic error decay in 2‐norm. Experimental results on a SCARA robot shows that the design can achieve nearly perfect tracking. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society