David H. Owens

Eric Rogers

Krzysztof Galkowski

After motivating examples, this monograph gives substantial new results on the analysis and control of linear repetitive processes. These include further applications of the abstract model based stability theory which, in particular, shows the critical importance to the dynamics developed of the structure of the initial conditions at the start of each new pass, the development of stability tests and performance bounds in terms of so-called 1D and 2D Lyapunov equations. It presents the development of a major bank of results on the structure and design of control laws, including the case when there is uncertainty in the process model description, together with numerically reliable computational algorithms. Finally, the application of some of these results in the area of iterative learning control is treated --- including experimental results from a chain conveyor system and a gantry robot system.

Control Systems Theory and Applications for Linear Repetitive Processes

Alan S.I. Zinober

The objective of the EU Nonlinear Control Network Workshop was to bring together scientists who are already active in nonlinear control and young researchers working in this field. This book presents selectively invited contributions from the workshop, some describing state-of-the-art subjects that already have a status of maturity while others propose promising future directions in nonlinear control. Amongst others, following topics of nonlinear and adaptive control are included: adaptive and robust control, applications in physical systems, distributed parameter systems, disturbance attenuation, dynamic feedback, optimal control, sliding mode control, and tracking and motion planning.

NCN4 2001

Nonlinear and Adaptive Control

This book develops a coherent and quite general theoretical approach to algorithm design for iterative learning control based on the use of operator representations and quadratic optimization concepts including the related ideas of inverse model control and gradient-based design. Using detailed examples taken from linear, discrete and continuous-time systems, the author gives the reader access to theories based on either signal or parameter optimization. Although the two approaches are shown to be related in a formal mathematical sense, the text presents them separately as their relevant algorithm design issues are distinct and give rise to different performance capabilities. Together with algorithm design, the text demonstrates the underlying robustness of the paradigm and also includes new control laws that are capable of incorporating input and output constraints, enable the algorithm to reconfigure systematically in order to meet the requirements of different reference and auxiliary signals and also to support new properties such as spectral annihilation. Iterative Learning Control will interest academics and graduate students working in control who will find it a useful reference to the current status of a powerful and increasingly popular method of control. The depth of background theory and links to practical systems will be of use to engineers responsible for precision repetitive processes.

An Optimization Paradigm

Iterative Learning Control

N. K. Nichols

This international conference brought together mathematicians from universities and industry to discuss the very latest advances in mathematical control and the control of algorithms for improving the performance and efficiency of their control schemes. A wide range of issues of currentinterest to theoreticians and practitioners are covered, including: algebraic systems theory, nonlinear control systems, adaptive control, robustness issues, infinite dimensional systems, applications studies, and connections to mathematical aspects of information theory and data fusion.This text will be of value to all readers with an interest in developing and applying recent concepts and techniques in the area.

Based on the Proceedings of a Conference on Control Theory, Organized by the Institute of Mathematics and Its Applications, and Held at the University of Strathclyde in September 1988

David H. Owens

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