Comparative Study on First and Second Order ILC -- Frequency Domain Analysis and Experiments
2000 (English)In: Proceedings of the 39th IEEE Conference on Decision and Control, IEEE , 2000, 3415-3420 vol.4 p.Conference paper (Refereed)
Aspects on the behavior of a general second order iterative learning control (ILC) algorithm is presented from a frequency domain perspective. This includes stability as well as performance and robustness issues. The basis for the analysis is linear iterative systems and these are briefly described. A design algorithm for second order ILC schemes is proposed and analyzed both theoretically as well as in an experiment. In the experiment, done on a commercial industrial robot control system, the second order ILC design is compared with a first order ILC design. The result from both the analysis and the experiment is that the second order design is not better with respect to performance or robustness.
Place, publisher, year, edition, pages
IEEE , 2000. 3415-3420 vol.4 p.
Iterative learning control, ILC, High order ILC, Experiment, Robot
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29604DOI: 10.1109/CDC.2000.912231Local ID: 14983ISBN: 0-7803-6638-7OAI: oai:DiVA.org:liu-29604DiVA: diva2:250421
39th IEEE Conference on Decision and Control, Sydney, Australia, 12-15 December, 2000