Iterative learning control design for Smith predictor

被引:49
作者
Hu, QP [1 ]
Xu, JX [1 ]
Lee, TH [1 ]
机构
[1] Natl Univ Singapore, Dept Elect Engn, Singapore 119260, Singapore
关键词
Smith predictor controller; iterative learning control; multiplicative uncertainty; convergence analysis;
D O I
10.1016/S0167-6911(01)00142-6
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The Smith predictor has been used to improve the closed-loop performance for systems with time delays. This paper proposes a frequency-domain method to design an iterative learning control to further improve the performance of Smith predictor controller. For a time-invariant plant with multiplicative perturbations and a Smith predictor controller, we derive a sufficient and necessary condition (which has the same form as that of a general robust performance design problem) for the iterative process to converge for all admissible plant uncertainties. In addition, the iterative learning controller under plant uncertainty is designed. An illustrative example demonstrating the main result is presented. (C) 2001 Elsevier Science B.V. All rights reserved.
引用
收藏
页码:201 / 210
页数:10
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