Iterative Learning Control for a Sub-Class of Uncertain 2D Systems

摘要

In this paper the Iterative Learning Control (ILC) scheme is presented for a subclass of 2D systems, i.e. spatially interconnected systems. Also, the existence of norm bounded uncertainty in the model is considered. Firstly, the 2D model is transformed into the uncertain 1D equivalent model using the lifting procedure. Next, in order to lead the model output to the prescribed reference signal, the ILC scheme is implemented. It attains the structure of the controlled differential linear repetitive process (LRP), hence assuring the stability along the trial of the underlying LRP automatically leads to the feasible ILC and the convergence to zero of the tracking error for the originally considered model. In what follows, the LMI based approach towards robust ILC controller design is given as a main result of this paper. To present the applicability of the proposed approach is applied for a subclass of spatially interconnected systems, i.e. the particular case of ladder RLC circuits.