By Topic

Design strategy for iterative learning control based on optimal control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Tousain, R. ; Mech. Eng. Syst. & Control Group, Delft Univ. of Technol., Netherlands ; van der Meche, E. ; Bosgra, O.

This paper deals with the analysis and synthesis of iterative learning control (ILC) systems using a lifted representation of the plant. In this lifted representation the system dynamics are described by a static map whereas the learning dynamics are described by a difference equation. The properties of the lifted system and in particular the role of nonminimum phase zeros and system delays are investigated. Based on the internal model principle a general, integrating update law is suggested. Next, a new multiobjective design method is proposed for the design of the learning gain, based on optimal control theory. The convergence speed is optimized subject to a bound on the closed loop variance due to stochastic initial conditions, process disturbances and measurement noise. An efficient tailor-made solution to the design problem is presented, making optimal use of the specific and nice structure of the lifted system ILC representation. The potential of the design method is demonstrated on a realistic example

Published in:

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

Date of Conference:

2001