{"title":"未知关联度多变量系统的一阶d型迭代学习控制","authors":"Zhaoqing Song, J. Mao, Guorong Zhao","doi":"10.1109/WCICA.2004.1340812","DOIUrl":null,"url":null,"abstract":"D-type iterative learning control (ILC) law is one of the main laws of ILC. D-type ILC law depends on the relative degree of the controlled system. High order ILC law is difficult to realize, and will enhance the effect of the noise. A design method of first-order D-type ILC is presented for multivariable systems with unknown relative degree. A dummy system with unit vector relative degree can be constructed by series and parallel connected first-order subsystem with the multivariable controlled system with unknown vector relative degree. The dummy system can track the desired trajectory completely under the action of the first-order D-type ILC, and the actual controlled system can realize asymptotic tracking along the desired trajectory within a certain error scope. The gain of the D-type ILC law does not depend on the parameters of the controlled system. The simulation example demonstrates the feasibility and effectiveness of the presented method.","PeriodicalId":331407,"journal":{"name":"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"First-order D-type iterative learning control for multivariable systems with unknown relative degree\",\"authors\":\"Zhaoqing Song, J. Mao, Guorong Zhao\",\"doi\":\"10.1109/WCICA.2004.1340812\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"D-type iterative learning control (ILC) law is one of the main laws of ILC. D-type ILC law depends on the relative degree of the controlled system. High order ILC law is difficult to realize, and will enhance the effect of the noise. A design method of first-order D-type ILC is presented for multivariable systems with unknown relative degree. A dummy system with unit vector relative degree can be constructed by series and parallel connected first-order subsystem with the multivariable controlled system with unknown vector relative degree. The dummy system can track the desired trajectory completely under the action of the first-order D-type ILC, and the actual controlled system can realize asymptotic tracking along the desired trajectory within a certain error scope. The gain of the D-type ILC law does not depend on the parameters of the controlled system. The simulation example demonstrates the feasibility and effectiveness of the presented method.\",\"PeriodicalId\":331407,\"journal\":{\"name\":\"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)\",\"volume\":\"18 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-06-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WCICA.2004.1340812\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2004.1340812","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
First-order D-type iterative learning control for multivariable systems with unknown relative degree
D-type iterative learning control (ILC) law is one of the main laws of ILC. D-type ILC law depends on the relative degree of the controlled system. High order ILC law is difficult to realize, and will enhance the effect of the noise. A design method of first-order D-type ILC is presented for multivariable systems with unknown relative degree. A dummy system with unit vector relative degree can be constructed by series and parallel connected first-order subsystem with the multivariable controlled system with unknown vector relative degree. The dummy system can track the desired trajectory completely under the action of the first-order D-type ILC, and the actual controlled system can realize asymptotic tracking along the desired trajectory within a certain error scope. The gain of the D-type ILC law does not depend on the parameters of the controlled system. The simulation example demonstrates the feasibility and effectiveness of the presented method.