Monotonically convergent iterative learning control for piecewise affine systems

Nard W.A. Strijbosch (Corresponding author), Isaac Spiegel, Kira Barton, Tom A.E. Oomen (Corresponding author)

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Abstract

Piecewise affine (PWA) systems enable modelling of systems that encompass hybrid dynamics and nonlinear effects. The aim of this paper is to develop an ILC framework for PWA systems. A new approach to analyse monotonic convergence is developed for PWA systems. This is achieved by exploiting the incremental ℓ 2-gain leading to sufficient LMI conditions guaranteeing monotonic convergence. An example confirms the monotonic convergence property for ILC applied to a mass-spring-damper system with a one-sided spring.

Original languageEnglish
Pages (from-to)1474-1479
Number of pages6
JournalIFAC-PapersOnLine
Volume53
Issue number2
DOIs
Publication statusPublished - 2020
Event21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020
Conference number: 21
https://www.ifac2020.org/

Keywords

  • Learning Control

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