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A convergence analysis of D-ILC algorithm

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2 Author(s)
Shaikh, I.U.H. ; Control Syst. Centre, Univ. of Manchester, Manchester, UK ; Brown, M.

ILC is an emerging technique for learning control. The D-ILC algorithm is the generic ILC scheme which captures the error trend of a batch to update the control input for the next batch or batches. The 2-dimensional nature requires in-depth convergence analysis of the algorithm. This paper addresses these issues in detail. This paper deals with the convergence properties of ILC algorithms with emphasis on control input. Discrete-time linear state space representation of a linear time-invariant system has been considered along with usual assumptions which ensure D-type ILC algorithm converges in terms of output error. The convergence for control input sequence is investigated up to component level.

Published in:

Control (CONTROL), 2012 UKACC International Conference on

Date of Conference:

3-5 Sept. 2012