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针对一类迭代学习控制(ILC)系统的不确定项,根据时域中扩张状态观测器的思想,提出迭代域中线性迭代扩张状态观测器(LIESO),该线性迭代扩张状态观测器可以利用迭代过程的跟踪误差给出迭代学习控制系统的不确定项的显式估计.给出了基于该估计的迭代学习控制算法,并应用类Lyapunov方法证明其收敛性.仿真结果表明,所提出的迭代学习控制算法是有效的,应用迭代扩张状态观测器可以大幅度提高迭代学习效率.
Aiming at the uncertain term of a class of ILC system, according to the idea of extended state observer in time domain, a linear iterative extended state observer (LIESO) in iterative domain is proposed. This linear iterative extended state observer can make use of iteration The tracking error of the process gives an explicit estimation of the uncertain term in the iterative learning control system.An iterative learning control algorithm based on this estimation is given and the Lyapunov method is applied to prove its convergence.The simulation results show that the proposed iterative learning The control algorithm is effective. The application of iterative expansion state observer can greatly improve the efficiency of iterative learning.