Accelerated Iterative Learning Control for a Class of Discrete Linear Systems with Uncertain Dynamics

Abstract

AbstractAn improved iterative learning control approach is proposed for a class of discrete linear systems with uncertain dynamics. It is well known that the gain in iterative learning control is prudently chosen to ensure robustness when the system exists uncertainty. Based on the sliding mode reaching law, a novel error term with power is designed to enable error to decrease faster in iteration, which is useful for systems with significant uncertainty. The convergence condition and stability for the proposed scheme are also analyzed. Finally, numerical simulation results illustrate that faster convergence is obtained compared with the pre-existing control methods.KeywordsIterative learning controlLearning functionUncertain systemConvergence speed