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针对一类正则线性不确定系统,提出一种基于连续/离散二维混合模型的迭代学习控制设计方法。首先,通过独立地考虑迭代学习控制系统连续的控制行为与离散的学习行为,建立迭代学习控制系统的连续/离散二维混合模型,将迭代学习控制器设计问题转化为一类连续/离散二维系统的状态反馈控制问题。然后应用二维连续/离散系统方法,获得迭代学习控制系统稳定性条件。最后根据稳定性条件,利用线性矩阵不等式方法,求得迭代学习控制器参数,它通过Matlab工具箱可以方便的获得。与现有方法相比,所提出的迭代学习控制器利用了输出误差以及状态变化的信息来修正当前的控制,因而设计方法更加符合其本质特征,具有简单实用、直观明了的特点。数值仿真实例验证了所提方法的有效性。
For a class of regular linear uncertain systems, an iterative learning control design method based on continuous / discrete two-dimensional hybrid model is proposed. Firstly, continuous and discrete two-dimensional hybrid model of iterative learning control system is established by considering continuous control behavior and discrete learning behavior of iterative learning control system independently, and the design problem of iterative learning controller is transformed into a continuous / discrete two-dimensional System status feedback control problem. Then two-dimensional continuous / discrete system method is applied to obtain the stability condition of iterative learning control system. Finally, according to the stability condition, Iterative learning controller parameters are obtained by the method of linear matrix inequality. It can be easily obtained by Matlab toolbox. Compared with the existing methods, the proposed iterative learning controller uses the output error and state change information to correct the current control. Therefore, the design method is more in line with its essential features, which is simple, practical and intuitive. Numerical examples verify the effectiveness of the proposed method.