Robustification of iterative learning control and repetitive control by averaging

Journal article

Authors/Editors

Strategic Research Themes

No matching items found.

Publication Details

Author list: Phan M.Q., Longman R.W., Panomruttanarug B., Lee S.C.

Publisher: Taylor and Francis Group

Publication year: 2013

Journal: International Journal of Control (0020-7179)

Volume number: 86

Issue number: 5

Start page: 855

End page: 868

Number of pages: 14

ISSN: 0020-7179

eISSN: 1366-5820

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84877967253&doi=10.1080%2f00207179.2013.764576&partnerID=40&md5=e133171bdb77e675dfb8a7ba9d9ef88d

Languages: English-Great Britain (EN-GB)

View in Web of Science | View on publisher site | View citing articles in Web of Science

Abstract

This paper describes a recently developed averaging technique to robustify iterative learning and repetitive controllers. The robustified controllers are found by minimising cost functions that are averaged over either multiple analytical time-domain models or experimental frequency-domain data. The aim is to produce a technique that is simple and general, and can be applied to any iterative learning control (ILC) or repetitive control (RC) design that involves the minimisation of a cost function. Substantial improvement in convergence to zero tracking error in the presence of model uncertainties has been observed for both ILC and RC by this averaging technique. ฉ 2013 Copyright Taylor and Francis Group, LLC.

Keywords

averaging cost function, iterative learning control, repetitive control, robustification