波兰绿山大学Krzysztof Galkowski教授学术报告会

报告时间：4月11日（星期一）上午8：00

4月14日（星期四）上午8：00

4月15日（星期五）上午8：00

报告地点：信息楼3楼学术报告厅

报  告  人：Krzysztof Galkowski，波兰绿山大学（University of Zielona Gora）教授

报告题目：Multidimensional sytems, repetitive processes and iterative learning control, theory, applications and future directions

内容简介：The basic feature of multidimensional (nD) systems is that they transmit information in many independent directions. Hence, every system variable, i.e. inputs, outputs and states are multivariate (vector) functions of discrete and/or continuous in determinates and the system dynamics evolves over all of them. These systems are very similar to spatially distributed systems which are described by partial differential or difference equations (PDE). One of the particular cases of nD systems are the so-called repetitive processes where one (discrete by definition) indeterminate counts executions, runs, iterations, trials or passes of some operation, and the remaining indeterminate, for temporal systems is running time (continuous or discrete). The first indeterminate is unbounded, when the second belongs to finite and, in most cases constant, time interval. Hence, a dynamics of repetitive process evolve over the strip on the plane.

Repetitive processes have many physical or industrial applications where some operations are cyclic as for a motor, a gantry robot or a robotic manipulator and many others. They can be used also for modeling various processes and objects. One of the so-called algorithmic applications is Iterative Learning Control (ILC), where the fundamental idea is to use available information from both, the previous and the current trial, to improve the tracking performance successively from trial to trial.

ILC is a technique for controlling systems operating in a repetitive (or pass-to-pass) mode with the requirement that a reference trajectory defined over a finite interval is followed to a high precision. Examples of such systems include robotic manipulators that are required to repeat a given task, chemical batch processes or, more generally, the class of tracking systems. Since the original work of Arimoto in the mid 1980s, the general area of ILC has been the subject of intense research effort. In ILC, a major objective is to achieve convergence of the trial-to-trial error and often this has been treated as the only one that needs to be considered, but then, it is possible that this could lead to unsatisfactory performance along the trial. These can be avoided when noting the clear repetitive (2-dimensional) structure of the ILC process. This is motivated by the fact that ILC clearly express 2-dimensional (2D) dynamics, along the trial and trial to trial. Then the process convergence is investigated in terms of underlying 2D system stability.

This lecture set presents basics of nD systems and in particular repetitive processes theory and their application to ILC, where control schemes can be written in the form of repetitive process and controller design can be accomplished by the use of linear matrix inequalities (LMI).

Also some nD systems, repetitive processes and ILC practical applications, including experimental verification, together with future directions will be discussed.

作者简历：Dr. Krzysztof Galkowski received his Ph.D. degrees from Technical University of Wroclaw in 1977. After a twenty-year stint at the University of Wroclaw, he joined the University of Zielona Gora in 1996, where he is currently a Professor of Institute of Control and Computation Engineering. Professor Galkowski is an inventor of the effective and still being generalised by other researchers, method of the construction of a state-space realization for the multidimensional (n-variate) transfer function matrices, called Elementary Operation Algorithm. His research interests include multidimensional (nD) systems and repetitive processes-theory and applications, Iterative Learning Control and related numerical methods. He is an author/editor of four monographs/books and over 100 papers in the leading peer reviewed journals and over 180 in the proceedings of international conferences. He has given numerous invited plenary talks for international conferences and in many universities (Europe, USA, Canada, China, Australia, India). He, as well, has prepared numerous special issues for leading journals as IJC, MDSSP and others. He has a strong international co-operation with the Universities of Southampton, UK; the universities of Wuppertal, Rostock and Erlangen-Nurnberg, Germany; University of Hong Kong; University of Poitiers, France; University of Thessaloniki, Greece; East China University of Science and Technology, Shanghai; Harbin Institute of Technology, Harbin; Central South University, Changsha; China University of Geosciences, Wuhan, and many others.

Dr. Krzysztof Galkowski is an associate editor for IET Control Theory and Applications, and a member of editorial board of International Journal of Multidimensional Systems and Signal Processing and International Journal of Control. He served as a member of IPC for several international conferences and co-organised a series of international workshops.