| Summary: | 碩士 === 大同工學院 === 電機工程研究所 === 86 === In this thesis, we provide a iterative learning controller design algorithm for a plant with uncertainties. First, based on the H-infinity theory, the robust stability conditions of the closed-loop system with bounded uncertainties will be derived. Under these conditions, the proposed robust control algorithm is applied to design the stability controller by appropriately choosing the design parameters. Then, the iterative learning control will be introduced to discuss the model following problem for the closed-loop system. By the steps of the controller design, we convert the system convergence condition of the tracking errors into a model-matching problem, and get the proper solutions by a mathematical method of interpolation. Finally, some examples are presented to illustrate the performance of the proposed controllers.
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