The Iterative Learning Controller Design And Application For Discrete System

Iterative learning control(ILC)is a new addition to the control techniques.It call improve the tracking performance and transient response of control systems which performs the same tasks in a finite time interval.According to the research actuality, this dissertation studied problems on convergence,robustness,initial state and the application of iterative learning control.The main contents and results in this dissertation are as follows.1. Introduces iterative learning control theory and development, describes the iterative learning control mathematical expression forms and features, and then reviews the research of iterative learning control theory and content of this article mainly introduces the work.2. For discrete system, introduces several methods of iterative learning control analysis of optimal control method, under the iterative learning algorithm, based on the theory of 2 - D system of learning methods of control.3. Introduces several kinds of geometric analysis method of iterative learning control algorithm, focusing on time-discrete system based on geometric analysis, a new algorithm of iterative learning methods, In the new algorithm is presented, and the convergence analysis.4. Specific engineering examples, the study of iterative learning control theory of engineering application problems. This new algorithm is applied to the robot manipulator trajectory tracking control of iterative learning controller, the design.5.The engineering applications in the dissertation have been testified and simulated through a large number of M—file by MATLAB software.