A convergence analysis of D-ILC algorithm
- 1 September 2012
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings of 2012 UKACC International Conference on Control
Abstract
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.Keywords
This publication has 18 references indexed in Scilit:
- Multi-Dimensional, First-Order, Linear Systems: CharacterizationPublished by Springer Science and Business Media LLC ,2007
- PD-Type iterative learning control for nonlinear time-delay system with external disturbanceJournal of Systems Engineering and Electronics, 2006
- Iterative feedback tuning of PID parameters: comparison with classical tuning rulesControl Engineering Practice, 2003
- A PD-type open-closed-loop iterative learning control and its convergence for discrete systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- On the P-type and Newton-type ILC schemes for dynamic systems with non-affine-in-input factorsAutomatica, 2002
- PI-type iterative learning control revisitedPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- On D-type and P-type ILC designs and anticipatory approachInternational Journal of Control, 2000
- Numerical OptimizationPublished by Springer Science and Business Media LLC ,1999
- On the iterative learning control theory for robotic manipulatorsIEEE Journal on Robotics and Automation, 1988
- Bettering operation of dynamic systems by learning: A new control theory for servomechanism or mechatronics systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1984