Design of Decentralized Iterative Learning Controllers for Linear Large Scale Dynamical Systems

Abstract

The problem of decentralized iterative learning control is considered for a class of linear time-invariant large scale interconnected dynamical systems. In the paper, it is shown that the method of iterative learning control can be applied to such large scale interconnected dynamical systems, and a class of decentralized local iterative learning control schemes is proposed. It is aslo shown that under given conditions, the proposed decentralized local iterative learning controllers can guarantee the asymptotic convergence of the local output error between the given desired local output and the actual local output of each subsystem through the iterative learning process. Finally, a numerical example is given to demonstrate the validity of the results.