Robust_Iterative_Learning_Control_with_application.pdf

to00100091)00339234,874644ao0ofintoto6 (2001) 7025,16024, s is an in of to ? LC)is or k to a to is in an 1978)1984). on +852+F. of & 1996; 999)998)LC as an it 1998). a 1996) by LC on an of an s is to LC of to In in be to 1/$ 2001 1)00339. et 6 (2001) 70257034is to 996)to A to is on of of s t+1)=t)+t)+t);06k=0;1;2;:;yk(t)=t)+!k(t);n;m;p;(1)k to yk(t) is of at 06t)k(t)q. (1) be ; B; to on q. (1) yk(t)=t1l)+t); (2)t)=)+t1l)+!k(t): (3)in 1996) to a In 2)t);uk(t)t)(4).);). 1);).);G= : 0B : 0.B : :(t), a a be In it is ,1996). If (1), , B=0, a as in 996)969)996)a t); 16)is to (996)is of to at k+1)is k +1)th in ;tof ; B et 6 (2001) 70257034 70271):xk(t+1)=t)+t);06k=0;1;2;:;yk(t)=t); n;m; p; (5):by q. (1) in or r(t), k+1)(t):=r(t) (t)TQ(t)r(t) (t)+N1(t)TR(t)(t); (6)(t)=(t) uk(t), (t) (t) t. q. (6) =r TQr +(7)=(1);Q(2);:;Q(N);R=(0);R(1);:;R(N 1),).);r=r(1)r(2).): (8)7),=1r : (9)9),(t)(996)9)(t)=t+1)I Bt+1)B+R(t+1)1t+1)A+t+1)C;t=0;1;:;N1; S(N)=0; (10)(t)=I +S(t)(t)1(t+1)+t+1)ek(t+1);t=0;1;:;N1; (N)=0 (11)ek(t+1)=r(t+1) yk(t+1)(t)=uk(t)t)B+R(t)1(t)A(t) xk(t)+R1(t)(t):(12)a q.(5)4),by (10)(12) (1). a =1; (13)(t)=I +S(t)(t)1(t+1)+t+1)ek(t+1);t=0;1;:;N1; (N)=0; (14)(t)=uk(t)t)B+R(t)1(t)A(t)xk(t)+R1(t)(t);(15)t)10)10),3)(15)15),(t)t)15) a 3rd q. (15),1996), a on of a to be An 028 F. et 6 (2001) 70257034a of of q.(10), 13)(15) to 1) is + +R1R1; (16): (17)q. (13) in 4)r=R1; (18)=(I +1I +1(19)=r13)4),=(I +R11I +R11R1r): (20) (10); 13)(15) q. (1); in to 16)7); t)k(t)k; =(1r; (21)=0; (22)C1is If it q. (3)C120)9),=(I +R1(I +R1rl);(23)=(I +(I +l; (24)=(I+R11I(I+R111R1r=(R11R1r=(1r;21)=024),22)=of as (16) 17). A (16) 17) AK YN TG at 13)(15)=(I + +rl); (25)=(I +(I +l:(26)F. et 6 (2001) 70257034 7029a be in of a be by (14) 15) t)=t+1)I Bt+1)B+1t+1)A+t=0;1;:;N1; S(N)=0; (27)(t)=S(t)1(t+1)+t+1);t=0;1;:;N1; (N)=0; (28)(t)=uk(t)t)B+1(t)A(t)xk(t)+(t): (29)(t)(t),to of A (3), (19) 20) a a (0) k . (10) 28)t)=t+1)I Bt+1)B+1t+1)A+t=0;1;:;N1; )=0; (30)(t)=Sk(t)1(t+1)+t+1);t=0;1;:;N1; (N)=0: (31)It is k(t) 0 Sk(t) 0 , a t)t)15) is in It As a is to in in by of of is it is by 199