Robust iterative learning control via continuous sliding-mode technique with validation on an SRV02 rotary plant

Abstract

This paper is to present a new design of robust Iterative Learning Control (ILC) for the purpose of output tracking using continuous sliding mode technique. The main feature of the design is that the controller signal is continuous due to the use of integral and employment of second-order sliding mode technique. The proposed ILC is more robust to noises and disturbances than the saturation approximation of the traditional sliding mode control because the control amount required to maintain the region of convergence is less. The robust ILC is suggested and the convergence of output-tracking error is also proven. The experimental results have clearly exhibited the excellent output-tracking performance by the continuous second-order sliding-mode-based robust iterative learning control.