Pseudo-downsampled iterative learning control

Zhang, B., Wang, D., Zhou, K. , Ye, Y. and Wang, Y. (2008) Pseudo-downsampled iterative learning control. International Journal of Robust and Nonlinear Control, 18(10), pp. 1072-1088. (doi: 10.1002/rnc.1232)

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In this paper, a simple and effective multirate iterative learning control (ILC), referred as pseudo-downsampled ILC, is proposed to deal with initial state error. This scheme downsamples the tracking error and input signals collected from the feedback control system before they are used in the ILC learning law. The output of the ILC is interpolated to generate the input for the next cycle. Analysis shows that the exponential decay of the tracking error can be expected and convergence condition can be ensured by downsampling. Other advantages of the proposed pseudo-downsampled ILC include no need for a filter design and reduction of memory size and computation. Experimental results demonstrate the effectiveness of the proposed scheme.

Item Type:Articles (Other)
Keywords:iterative learning control
Glasgow Author(s) Enlighten ID:Zhou, Dr Keliang
Authors: Zhang, B., Wang, D., Zhou, K., Ye, Y., and Wang, Y.
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
College/School:College of Science and Engineering > School of Engineering
Research Group:Systems Power and Energy
Journal Name:International Journal of Robust and Nonlinear Control
Publisher:John Wiley & Sons Ltd.
ISSN (Online):1099-1239

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