Robust iterative learning control for flexible link under parametric uncertainty

Hoa Nguyen Dinh; David Banjerdpongchai

doi:10.1109/ECTICON.2009.5137030

Robust iterative learning control for flexible link under parametric uncertainty

Hoa Nguyen Dinh, David Banjerdpongchai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate the robust ILC design as a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is given. Finally, the simulation results for a single flexible link are presented to illustrate the effectiveness of the proposed robust ILC algorithm.

Original language	English
Title of host publication	2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
Pages	376-379
Number of pages	4
DOIs	https://doi.org/10.1109/ECTICON.2009.5137030
Publication status	Published - Oct 22 2009
Externally published	Yes
Event	2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009 - Chonburi, Thailand Duration: May 6 2009 → May 9 2009

Publication series

Name	2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
Volume	1

Other

Other	2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009
Country/Territory	Thailand
City	Chonburi
Period	5/6/09 → 5/9/09

All Science Journal Classification (ASJC) codes

Computer Networks and Communications
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

10.1109/ECTICON.2009.5137030

Cite this

Dinh, H. N., & Banjerdpongchai, D. (2009). Robust iterative learning control for flexible link under parametric uncertainty. In 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009 (pp. 376-379). Article 5137030 (2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009; Vol. 1). https://doi.org/10.1109/ECTICON.2009.5137030

Robust iterative learning control for flexible link under parametric uncertainty. / Dinh, Hoa Nguyen; Banjerdpongchai, David.
2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009. 2009. p. 376-379 5137030 (2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dinh, HN & Banjerdpongchai, D 2009, Robust iterative learning control for flexible link under parametric uncertainty. in 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009., 5137030, 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009, vol. 1, pp. 376-379, 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009, Chonburi, Thailand, 5/6/09. https://doi.org/10.1109/ECTICON.2009.5137030

Dinh HN, Banjerdpongchai D. Robust iterative learning control for flexible link under parametric uncertainty. In 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009. 2009. p. 376-379. 5137030. (2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009). doi: 10.1109/ECTICON.2009.5137030

Dinh, Hoa Nguyen ; Banjerdpongchai, David. / Robust iterative learning control for flexible link under parametric uncertainty. 2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009. 2009. pp. 376-379 (2009 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2009).

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Robust iterative learning control for flexible link under parametric uncertainty

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