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对于具有重复运动特性的系统,迭代学习控制是一种简单有效的控制方法。为便于实时应用,所有迭代学习控制方案的设计必须在离散时间域进行。初始状态问题是学习控制设计中遇到的一个重要问题。针对具有变初始状态的离散时间系统,利用2-D线性连续-离散型系统理论设计了闭环迭代学习控制器,并给出了保证控制器收敛的充分必要条件。仿真结果证明了该方案的有效性。
For systems with repetitive motion, Iterative Learning Control is a simple and effective control method. To facilitate real-time applications, all iterative learning control schemes must be designed in a discrete time domain. The initial state problem is an important problem encountered in the design of learning control. For a discrete time system with variable initial state, a closed-loop iterative learning controller is designed by using 2-D linear continuous-discrete system theory. The necessary and sufficient conditions for the convergence of the controller are given. Simulation results show the effectiveness of this scheme.