输出重定义下的非线性非最小相位系统迭代学习控制-控制理论与应用.PDF

27 7 Vol. 27 No. 7 2010 7 Control Theory Applications Jul. 2010 : 1000−8152(2010)07−0948−05 , , (, 310023) : , . , . , . . : ; ; ; : TP273 : A Output-redefinition-based iterative learning control for nonlinear non-minimum phase systems CHEN Bing-yu, SUN Ming-xuan, ZHU Sheng (College of Information Engineering, Zhejiang University of Technology, Hangzhou Zhejiang 310023, China) Abstract: An iterative learning control is presented for nonlinear non-minimum phase systems. The systems undertaken are assumed to perform the same tasks repeatedly. Output redefinition is carried out and the zero-dynamics with respect to the redefined output exhibit a stable behavior. Both methodologies of partially saturated and fully saturated learning are adopted in designing the learning controllers. Stability and convergence of the learning systems are established, ensuring the zero-convergence of the tracking error and the boundedness of all variables in the closed-loop. Numerical results are presented for demonstrating the effectiveness of the proposed two learning control methods. Key words: non-minimum phase systems; output redefinition; iterative learning control 1 (Introduction) [11]. [1] , , , [2] [3] , . [4,5] , . [12] . . , . SISO, : , [6], . , , ; . [13], [7,8] , . , , , . . [9] [10] 2 (Problem formulation)