On the Design of ILC Algorithms using Optimization
2001 (English)In: Automatica, ISSN 0005-1098, Vol. 37, no 12, 2011-2016 p.Article in journal (Refereed) Published
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.
Frequency domains, Learning control, Non-minimum phase systems, Optimization, Robotics
IdentifiersURN: urn:nbn:se:liu:diva-47220DOI: 10.1016/S0005-1098(01)00154-6OAI: oai:DiVA.org:liu-47220DiVA: diva2:268116
© 2001 Elsevier Science Ltd. All rights reserved.2009-10-112009-10-112013-07-17