Open AccessIterative learning control for linear discrete‐time systems with high relative degree under initial state vibration
Author(s) -
Wei YunShan,
Li XiaoDong
Publication year - 2016
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2015.0826
Subject(s) - iterative learning control , control theory (sociology) , trajectory , tracking error , discrete time and continuous time , vibration , tracking (education) , mathematics , degree (music) , mimo , iterative method , computer science , algorithm , control (management) , artificial intelligence , physics , statistics , acoustics , psychology , beamforming , pedagogy , quantum mechanics , astronomy
For linear discrete‐time multiple‐input–multiple‐output (MIMO) systems with high relative degree, this study presents three average operator‐based iterative learning control (ILC) algorithms to investigate the effect of initial state vibration on ILC tracking error. The proposed ILC laws include an initial rectifying action against initial state vibration at certain time points, and pursue the reference trajectory tracking beyond the initial time points. It is proved that, when the proposed ILC laws are applied to linear discrete‐time MIMO systems with high relative degree, the effect of the initial state vibration on ILC tracking error beyond the initial time points can be exactly decided. Moreover, the ILC tracking error beyond the initial time points can be driven to zero against a progressive fixed initial state error. Numerical examples are used to illustrate the effectiveness of the proposed ILC laws.