Data-Driven Robust Finite-Iteration Learning Control for MIMO Nonrepetitive Uncertain Systems

This work considers three main problems related to fast finite-iteration convergence (FIC), nonrepetitive uncertainty, and data-driven design. A data-driven robust finite-iteration learning control (DDRFILC) is proposed for a multiple-input-multiple-output (MIMO) nonrepetitive uncertain system. The proposed learning control has a tunable learning gain computed through the solution of a set of linear matrix inequalities (LMIs). It warrants a bounded convergence within the predesignated finite iterations. In the proposed DDRFILC, not only can the tracking error bound be determined in advance but also the convergence iteration number can be designated beforehand. To deal with nonrepetitive uncertainty, the MIMO uncertain system is reformulated as an iterative incremental linear model by defining a pseudo partitioned Jacobian matrix (PPJM), which is estimated iteratively by using a projection algorithm. Further, both the PPJM estimation and its estimation error bound are included in the LMIs to restrain their effects on the control performance. The proposed DDRFILC can guarantee both the iterative asymptotic convergence with increasing iterations and the FIC within the prespecified iteration number. Simulation results verify the proposed algorithm.