In this paper, a novel expression for the convergence of an iterative learning control algorithm for sampled linear multivariable systems is stated. The convergence analysis shows that, applying this algorithm, the input sequence converges to the system output inverse sequence, specified as a finite-time output trajectory, with zero tracking error on all the sampled points. Also, it gives insig...

Classical model–based fault detection schemes for linear multivariable systems require the definition of suitable residual functions. This paper shows the possibility of identifying residual generators even when the system model is unknown, by following a black–box approach. The result is obtained by using canonical input–output polynomial forms which lead to characterise in a straightforward f...

ion is a key feature of control engineering. To realise that the dynamic behaviour of an aircraft can be represented with the same tools, and even equations, as a distillation column provides a platform to conceive control systems in a generic way. But this common framework for representing the dynamics of different processes does not mean that the particular characteristics of any process are ...

Many iterative learning control algorithms rely on a model of the system. Although only approximate model knowledge is required, the model quality determines the convergence and performance properties of the learning control algorithm. The aim of this paper is to remove the need for a model for a class of multivariable ILC algorithms. The main idea is to replace the model by dedicated experimen...

Several algorithms have been proposed in the literature for the computation of the zeros of a linear system described by a state-space model 1x1 A,B,C,D}. In this report we discuss the numerical properties of a new algorithm and compare it with some earlier techniques of computing zeros. The new approach is shown to handle both nonsquare and/or degenerate systems without difficulties whereas ea...

This paper is concerned with the synthesis of a nonlinear state feedback law for nonsquare multivariable nonlinear systems. Previous approaches in the literature have solved this problem by (1) squaring the system by discarding some inputs or by adding new outputs, or (2) by utilizing some inputs for input/output (I/O) linearization and the remaining inputs for minimizing cost. In this paper, a...

This paper presents a robust controller design methodology for a class of linear uncertain multivariable systems with hard time-domain constraints on their outputs and control signals in response to step disturbance inputs. In this approach, the m×m MIMO system is replaced by m2 SISO systems and then, using the QFT technique, desirable controllers are synthesized. The final controller will be d...