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研究一类线性不确定系统的鲁棒D型迭代学习控制问题.首先针对一类线性标称控制对象,建立其迭代学习控制的二维模型;然后基于获得的二维模型,利用二维系统稳定性理论,获得系统在迭代初态与期望初态一致和不一致两种情形下的D型迭代学习控制律的存在条件和设计方法;进一步,将所得结果推广至控制对象包含不确定性的情形.所得结果以线性矩阵不等式(LMI)的形式给出,可以方便地利用Matlab中的LMI工具箱求解.最后,数值仿真实例验证了本文所提方法的有效性.
A robust D-type iterative learning control problem for a class of linear uncertain systems is studied. First, a two-dimensional model of iterative learning control is established for a class of linear nominally controlled objects. Then, based on the obtained two-dimensional model, The existence conditions and design methods of the D-type iterative learning control law are obtained under both the initial state and the initial state of the initial state and the expected state of the system. Furthermore, the results are generalized to include the uncertainty of the control object. The results are given in the form of linear matrix inequalities (LMIs), which can be easily solved by the LMI toolbox in Matlab.Finally, numerical simulation examples verify the effectiveness of the proposed method.