Robust iterative learning control for linear systems subject to time-invariant parametric uncertainties and repetitive disturbances

Abstract

This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as a min-max problem with a quadratic performance index subjected to constraints of the control input. Employing Lagrange duality, we can reformulate the robust ILC design as a convex optimization problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is then given. Finally, the effectiveness of the proposed robust ILC algorithm is demonstrated through a numerical example.