对于具有重复运动性质的系统,迭代学习控制是一种行之有效的控制方法。开闭环迭代学习控制能同时利用系统前次运行和当前运行的信息,因而性能优于单纯的开环迭代学习控制。针对线性连续系统,设计了D(Differential)型开闭环迭代学习控制器,利用2-D(Two-Dimensional)系统理论建立系统的2-D连续—离散Roesser模型,并给出了保证控制器收敛的充分必要条件。最后通过一个仿真实例,证明了该方案的有效性。

Iterative Learning Control(ILC)is an effective method for the systems that execute the same task repetitively.Open-closed-loop ILC algorithm can use both the former and current information,so it is superior to the algorithm using only open-loop in performance.A D-type open-closed-loop iterative learning controller was designed for the linear continuous-time system,and a 2-D continuous-discrete Roessers model was built up by using 2-D system theory.The sufficient and necessary conditions guaranteeing the convergence was supplied for the proposed iterative learning control scheme.Simulation results are given to demonstrate the validity of control scheme.