Robust Stability of Optimal Iterative Learning Control and Application to Injection Molding Machine
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摘要: 提出了一种鲁棒最优迭代控制器的设计方法.对于任意有界的参考输出和不确定的初 始值,建立了由最优迭代学习控制器保证闭环系统有界输入有界输出(BIBO)鲁棒稳定性的充要 条件.实际应用中可根据不确定初始设定值和干扰对加权矩阵进行调整,从而保证闭环系统性能 随迭代过程的进行而得到改进.在注塑机控制中的应用验证了本文结论的有效性.Abstract: A design of robust iterative learning controller is presented. A sufficient and necessary condition to ensure robust BIBO (bounded-input bounded-output) stability is derived for the optimal iterative learning controllers when tracking arbitrary bounded output. A practical scheme of selecting weighting matrices is proposed for the process with uncertain initial resetting and disturbances to ensure improvement of system performance from batch to batch. An application to the injection molding control is given to demonstrate the effectiveness of the proposed results.
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Key words:
- Batch control /
- learning control /
- robust stability
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