Abstract

In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate the robust ILC design as a convex optimization over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is given. Finally, the simulation results for a single flexible link are presented to illustrate the effectiveness of the proposed robust ILC algorithm.

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