서지주요정보
강인한 반복 학습 제어기의 주파수 영역 해석 및 설계 = Frequency domain analysis and design of a robust iterative learning controller
서명 / 저자 강인한 반복 학습 제어기의 주파수 영역 해석 및 설계 = Frequency domain analysis and design of a robust iterative learning controller / 노철래.
저자명 노철래 ; Roh, Cheol-Lae
발행사항 [대전 : 한국과학기술원, 1996].
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소장정보

등록번호

8006360

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 96016

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초록정보

In this thesis, the iterative learning control system(ILCS) including feedback control is considered to improve the control accuracy for the repetitive desired trajectory. For the ILCS, the convergence and robustness to modeling uncertainty are analyzed in the frequency domain. At first, a design method of learning filters for a class of stable non-minimum phase system is proposed by the model-matching theory. The iterative learning controller consists of two learning filters acting on both the previous input signal and the previous error signal. To design learning filters, the convergence condition of the iterative learning controller is converted into the model-matching problem and a stable and proper learning filter is obtained by solving the Nevanlinna-Pick algorithm. Meanwhile, in order to analyze the effects of modeling uncertainty, the closed-loop system is assumed as a family of interval systems. Under the assumption, the concept of robust convergence of ILCS is proposed and some robustness results are obtained by use of the Kharitonov's theorem. Based on the results, design methods of learning filters are proposed from the convergence condition of the ILCS. To show the effectiveness of the proposed design method, some simulation study and experiments for a robot manipulator are executed. The proposed method is regarded as an efficient method to handle the parametric modeling uncertainty in the design of learning controller.

서지기타정보

서지기타정보
청구기호 {DEE 96016
형태사항 viii, 103 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Cheol-Lae Roh
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 92-98
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