Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot

L. Hladowski; Z. Cai; K. Galkowski; E. Rogers; C.T. Freeman; P.L. Lewin; W. Paszke

doi:10.1109/ACC.2009.5159995

Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot

L. Hladowski, Z. Cai, K. Galkowski, E. Rogers, C.T. Freeman, P.L. Lewin, W. Paszke

Control Systems Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

Abstract

In this paper we use a 2D systems setting todevelop new results on iterative learning control for linearsingle-input single-output (SISO) plants, where it is well knownin the subject area that a trade-off exists between speed ofconvergence and the response along the trials. Here we givenew results by designing the control scheme using a strong formof stability for repetitive processes/2D linear systems known asstability along the pass (or trial). The design computations arein terms of Linear Matrix Inequalities (LMIs) and results fromexperimental verification on a gantry robot are also given.

Original language	English
Title of host publication	Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers
Pages	949-954
ISBN (Print)	978-1-4244-4523-3
DOIs	https://doi.org/10.1109/ACC.2009.5159995
Publication status	Published - 2009

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10.1109/ACC.2009.5159995

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Hladowski, L., Cai, Z., Galkowski, K., Rogers, E., Freeman, C. T., Lewin, P. L., & Paszke, W. (2009). Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot. In Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA (pp. 949-954). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2009.5159995

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title = "Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot",

abstract = "In this paper we use a 2D systems setting todevelop new results on iterative learning control for linearsingle-input single-output (SISO) plants, where it is well knownin the subject area that a trade-off exists between speed ofconvergence and the response along the trials. Here we givenew results by designing the control scheme using a strong formof stability for repetitive processes/2D linear systems known asstability along the pass (or trial). The design computations arein terms of Linear Matrix Inequalities (LMIs) and results fromexperimental verification on a gantry robot are also given.",

author = "L. Hladowski and Z. Cai and K. Galkowski and E. Rogers and C.T. Freeman and P.L. Lewin and W. Paszke",

year = "2009",

doi = "10.1109/ACC.2009.5159995",

language = "English",

isbn = "978-1-4244-4523-3",

pages = "949--954",

booktitle = "Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA",

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Hladowski, L, Cai, Z, Galkowski, K, Rogers, E, Freeman, CT, Lewin, PL & Paszke, W 2009, Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot. in Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA. Institute of Electrical and Electronics Engineers, Piscataway, NJ, pp. 949-954. https://doi.org/10.1109/ACC.2009.5159995

Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot. / Hladowski, L.; Cai, Z.; Galkowski, K. et al.
Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA. Piscataway, NJ: Institute of Electrical and Electronics Engineers, 2009. p. 949-954.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Hladowski, L.

AU - Cai, Z.

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AU - Rogers, E.

AU - Freeman, C.T.

AU - Lewin, P.L.

AU - Paszke, W.

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AB - In this paper we use a 2D systems setting todevelop new results on iterative learning control for linearsingle-input single-output (SISO) plants, where it is well knownin the subject area that a trade-off exists between speed ofconvergence and the response along the trials. Here we givenew results by designing the control scheme using a strong formof stability for repetitive processes/2D linear systems known asstability along the pass (or trial). The design computations arein terms of Linear Matrix Inequalities (LMIs) and results fromexperimental verification on a gantry robot are also given.

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Hladowski L, Cai Z, Galkowski K, Rogers E, Freeman CT, Lewin PL et al. Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot. In Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA. Piscataway, NJ: Institute of Electrical and Electronics Engineers. 2009. p. 949-954 doi: 10.1109/ACC.2009.5159995

Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot

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