Monotonically convergent iterative learning control for piecewise affine systems

Nard W.A. Strijbosch; Isaac Spiegel; Kira Barton; Tom A.E. Oomen

doi:10.1016/j.ifacol.2020.12.1937

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)

Control Systems Technology

Research output: Contribution to journal › Conference article › Academic › peer-review

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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 language	English
Pages (from-to)	1474-1479
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.1937
Publication status	Published - 2020
Event	21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020 Conference number: 21 https://www.ifac2020.org/

Keywords

Learning Control

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10.1016/j.ifacol.2020.12.1937

2020_05_08_IFAC_ILC_for_PWA_finalFinal author version , 685 KB
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T1 - Monotonically convergent iterative learning control for piecewise affine systems

AU - Strijbosch, Nard W.A.

AU - Spiegel, Isaac

AU - Barton, Kira

AU - Oomen, Tom A.E.

N1 - Conference code: 21

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Learning Control

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U2 - 10.1016/j.ifacol.2020.12.1937

DO - 10.1016/j.ifacol.2020.12.1937

M3 - Conference article

VL - 53

SP - 1474

EP - 1479

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 2

T2 - 21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress)

Y2 - 12 July 2020 through 17 July 2020

ER -

Monotonically convergent iterative learning control for piecewise affine systems

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