Abstract
In this paper, we propose a new design method for a learning control system. The objectives of this paper are to enhance the tracking performance of learning controllers and to suppress disturbances acting on a plant. The structure of the learning controller is based on the parametrization of all stabilizing controllers, which is called Youla parametrization. The design procedure is divided into two steps. First, we design a basic controller using the LQG (linear quadratic Gaussian) method and consider the parametrization based on the LQG controller. Then, we adjust the free parameter to obtain good tracking performance by the learning algorithm. A numerical example is given to illustrate the effectiveness of the proposed method.
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