Communications and Control Engineering : Robustness and Monotonic Convergence for Interval Systems - Hyo-Sung Ahn

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Communications and Control Engineering

Robustness and Monotonic Convergence for Interval Systems

By: Hyo-Sung Ahn, Kevin L. Moore, YangQuan Chen

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Hardcover | 26 June 2007

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252 Pages

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22.86 x 15.24 x 1.27

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This monograph studies the design of robust, monotonically-convergent it- ative learning controllers for discrete-time systems. Iterative learning control (ILC) is well-recognized as an e?cient method that o?ers signi?cant p- formance improvement for systems that operate in an iterative or repetitive fashion (e. g. , robot arms in manufacturing or batch processes in an industrial setting). Though the fundamentals of ILC design have been well-addressed in the literature, two key problems have been the subject of continuing - search activity. First, many ILC design strategies assume nominal knowledge of the system to be controlled. Only recently has a comprehensive approach to robust ILC analysis and design been established to handle the situation where the plant model is uncertain. Second, it is well-known that many ILC algorithms do not produce monotonic convergence, though in applications monotonic convergencecan be essential. This monograph addresses these two keyproblems by providingauni?ed analysisanddesignframeworkforrobust, monotonically-convergent ILC. The particular approach used throughout is to consider ILC design in the iteration domain, rather than in the time domain. Using a lifting technique, the two-dimensionalILC system, whichhas dynamics in both the time and - erationdomains,istransformedintoaone-dimensionalsystem,withdynamics only in the iteration domain. The so-called super-vector framework resulting from this transformation is used to analyze both robustness and monotonic convergence for typical uncertainty models, including parametric interval - certainties, frequency-like uncertainty in the iteration domain, and iterati- domain stochastic uncertainty.

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Published: 19th October 2010

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Iterative Learning Control Overview
Introduction
An Overview of the ILC Literature
The Super-vector Approach
Robust Interval Iterative Learning Control
Robust Interval Iterative Learning Control
Analysis
Schur Stability Radius of Interval Iterative Learning Control
Iterative Learning Control Design Based on Interval Model Conversion
Iterative Learning Control
Iteration-domain Robustness
Robust Iterative Learning Control
H-infinity Approach
Robust Iterative Learning Control: Stochastic Approaches
Conclusions
Appendices
Taxonomy of Iterative Learning Control Literature
Maximum Singular Value of an Interval Matrix
Robust Stability of Interval Polynomial Matrices
Power of an Interval Matrix
Table of Contents provided by Publisher. All Rights Reserved.

Communications and Control Engineering

Robustness and Monotonic Convergence for Interval Systems

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Hardcover

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Other Editions and Formats

Paperback

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