In this paper, we study MIMO Iterative Learning Control (ILC) and its robustness against model uncertainty. Although it is argued that, so-called, norm optimal ILC controllers have some inherent robustness, not many results are available that can make quantitative statements about the allowable model uncertainty. In this paper, we derive sufficient conditions for robust convergence of the ILC algorithm in presence of an uncertain system with an additive uncertainty bound. These conditions are applied to norm optimal ILC, resulting in guidelines for robust controller design. Theoretical results are illustrated by simulations.
|Title of host publication||Proceedings of the 2008 American Control Conference (ACC2008), Seattle, Washington, USA, June 11-13, 2008|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2008|
Donkers, M. C. F., Wijdeven, van de, J. J. M., & Bosgra, O. H. (2008). Robustness against model uncertainties of norm optimal iterative learning control. In Proceedings of the 2008 American Control Conference (ACC2008), Seattle, Washington, USA, June 11-13, 2008 (pp. 4561-4566). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2008.4587214