Monotonically convergent iterative learning control for piecewise affine systems

Abstract Piecewise affine (PWA) systems enable modelling of systems that encompass hybrid dynamics and nonlinear effects. The aim of this paper is to develop an ILC framework for PWA systems. A new approach to analyse monotonic convergence is developed for PWA systems. This is achieved by exploiting the incremental l2-gain leading to sufficient LMI conditions guaranteeing monotonic convergence. An example confirms the monotonic convergence property for ILC applied to a mass-spring-damper system with a one-sided spring.