Stability and robustness analysis of cyclic pseudo-downsampled iterative learning control

Zhang, B., Wang, D., Ye, Y. and Zhou, K. (2010) Stability and robustness analysis of cyclic pseudo-downsampled iterative learning control. International Journal of Control, 83(3), pp. 651-659. (doi: 10.1080/00207170903373753)

Abstract

Cyclic pseudo-downsampled iterative learning control (ILC) has shown advantages to achieve good learning performance for trajectories containing high-frequency components and has been verified on industrial robot application. This scheme is a multirate ILC in nature and downsamples the fast rate signals (with a sampling period T) to slow rate signals (with a sampling period mT) with a ratio m. Then ILC is carried out on the downsampled signals and interpolates its output to a fast rate signal. For the next iteration, ILC scheme downsamples the signals with the same ratio m but at different sampling points with a time shift T. This process is repeated on the iteration axis so that ILC updates the input of all the sampling points once every m cycles. By experiments [Zhang, B., Wang, D., Ye, Y., Zhou, K. and Wang, Y. (2009) ‘Cyclic Pseudo-downsampled Iterative Learning Control for High Performance Tracking’, Control Engineering Practice, 17, 957–965], this scheme has been shown effective and comparisons with other relevant schemes demonstrate its superior performance. In this article, this cyclic pseudo-downsampled ILC scheme is examined analytically and proved mathematically to be stable and robust. Extensions and insights are also established based on the theoretical developments and simulation verification. pseudo-downsampled ILC scheme.

• Item Type: Articles
• Keywords: iterative learning control
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Zhou, Dr Keliang
• Authors: Zhang, B., Wang, D., Ye, Y., and Zhou, K.
• Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
• College/School: College of Science and Engineering > School of Engineering
• Journal Name: International Journal of Control
• Publisher: Taylor and Francis
• ISSN: 0020-7179
• ISSN (Online): 1366-5820