LMI Approach to Iterative Learning Control Design - ResearchGate

Errors
Errors
Errors
30
25
20
15
10
5
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
0.7
0.6
0.5
0.4
0.3
0.2
0.1
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
Errors
Errors
Errors
0.16
0.14
0.12
0.1
0.08
0.06
0.04
0.02
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
0.7
0.6
0.5
0.4
0.3
0.2
0.1
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
0.7
0.6
0.5
0.4
0.3
0.2
0.1
2 nd trial
3 rd trial
4 th trial
5 th trial
0
1 2 3 4 5 6 7 8 9 10
Discrete Time
Fig. 2. ILC performances according to various band structures: Fig.2.1, upper-left: no LMI; Fig.2.2, upper-right: using H 1; Fig.2.3, middle-left: causal
LTI with band size = 3; Fig.2.4, middle-right: causal LTV with band size = 3; Fig.2.5, bottom-left: non-causal LTI with band size = 3; Fig.2.6, bottom-right:
non-causal LTV with band size = 3