Some recent papers have extended the concept of finite-time stability (FTS) to the context of 2-D linear systems, where it has been referred to as finite-region stability (FRS). To this regard, the novel contribution of our work considers an interesting application of FRS to the context of iterative learning control (ILC). In particular, a new procedure is proposed so that the tracking error of the ILC law converges within the desired bound in a finite number of iterations. The results provided in the paper lead to an optimization problem constrained by linear matrix inequalities (LMIs), that can be solved via widely available software. A numerical example illustrates the effectiveness of the proposed technique.
When Finite-Region Stability Meets Iterative Learning Control
Cosentino, Carlo
;Merola, Alessio;Romano, Maria;Amato, Francesco
2021-01-01
Abstract
Some recent papers have extended the concept of finite-time stability (FTS) to the context of 2-D linear systems, where it has been referred to as finite-region stability (FRS). To this regard, the novel contribution of our work considers an interesting application of FRS to the context of iterative learning control (ILC). In particular, a new procedure is proposed so that the tracking error of the ILC law converges within the desired bound in a finite number of iterations. The results provided in the paper lead to an optimization problem constrained by linear matrix inequalities (LMIs), that can be solved via widely available software. A numerical example illustrates the effectiveness of the proposed technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
