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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 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 languageEnglish
Title of host publicationProceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers
Pages949-954
ISBN (Print)978-1-4244-4523-3
DOIs
Publication statusPublished - 2009

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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