Robust Iterative Learning Control for Nonlinear System Based on T-S Model
会议名称：《2010 Chinese Control and Decision Conference》
会议日期：2010年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0701[理学-数学] 071101[理学-系统理论] 0811[工学-控制科学与工程]
基 金：supported by HuBei Normal University Important Foundation Grant # 2007D43
关 键 词：T-S model nonlinear iterative learning control linear matrix inequality
摘 要：正A design method of robust iterative learning controller（RILC） is proposed for nonlinear system with repetitive actions in this ***,the Takagi and Sugeno（T-S） fuzzy model is employed to approximate a nonlinear system with repetitive actions,and thus global fuzzy system model is displayed as the form of uncertain *** the robust iterative learning controller is designed by the T-S fuzzy model employed as a dynamic model of nonlinear *** proposed controller is obtained by solving linear matrix inequalities（LMI）,and both sufficient and essential of the convergence conditions are deducted by Lyapunov *** proposed controller needs not satisfy the condition of fully observable as well as we did before.A single inverted pendulum problem has been simulated with RILC and compared with iterative learning controller（ILC） and the results show that RILC performs better than ILC.