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On the Design of ILC Algorithms using Optimization
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2001 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 37, no 12, 2011-2016 p.Article in journal (Refereed) Published
Abstract [en]

Iterative learning control (ILC) based on minimization of a quadratic criterion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial industrial robot are also presented.

Place, publisher, year, edition, pages
Elsevier, 2001. Vol. 37, no 12, 2011-2016 p.
Keyword [en]
Frequency domains, Learning control, Non-minimum phase systems, Optimization, Robotics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-47220DOI: 10.1016/S0005-1098(01)00154-6OAI: oai:DiVA.org:liu-47220DiVA: diva2:268116
Note

© 2001 Elsevier Science Ltd. All rights reserved.

Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2017-12-13

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Gunnarsson, SvanteNorrlöf, Mikael

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