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Research Article
Robust stability of iterative learning control schemes
Article first published online: 8 OCT 2007
DOI: 10.1002/rnc.1236
Copyright © 2007 John Wiley & Sons, Ltd.
Issue
1099-1239/asset/cover.gif?v=1&s=dce9e19e32562b69b7699ed5335154ce01feb8de "International Journal of Robust and Nonlinear Control")
International Journal of Robust and Nonlinear Control
Special Issue: Robust Iterative Learning Control: Theory and Experimental Verification
Volume 18, Issue 10, pages 1018–1033, 10 July 2008
Additional Information
How to Cite
French, M. (2008), Robust stability of iterative learning control schemes. Int. J. Robust Nonlinear Control, 18: 1018–1033. doi: 10.1002/rnc.1236
Publication History
- Issue published online: 23 MAY 2008
- Article first published online: 8 OCT 2007
- Manuscript Accepted: 4 MAY 2007
- Manuscript Received: 3 MAY 2007
- Abstract
- References
- Cited By
Keywords:
- iterative learning control;
- adaptive control;
- robust stability;
- gap metric
Abstract
A notion of robust stability is developed for iterative learning control in the context of disturbance attenuation. The size of the unmodelled dynamics is captured via a gap distance, which in turn is related to the standard ℋ2 gap metric, and the resulting robustness certificate is qualitatively equivalent to that obtained in classical robust ℋ∞ theory. A bound on the robust stability margin for a specific adaptive ILC design is established. Copyright © 2007 John Wiley & Sons, Ltd.