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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.
2000 (English)Report (Other academic)
Abstract [en]

Design of Iterative Learning Control (ILC) algorithms using optimization is considered. By forming a quadratic criterion in the control error and the input signal using a nominal model of the system an ILC algorithm is derived. Special attention is paid to the frequency domain properties of the algorithm and to how it is able to handle non-minimum phase systems. A numerical example and an experiment carried out on an real industrial robot are presented.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 17 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2209
Keyword [en]
Iterative Learning Control, Optimization, Robotics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55732ISRN: LITH-ISY-R-2209OAI: oai:DiVA.org:liu-55732DiVA: diva2:316604
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-02Bibliographically approved

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On the Design of ILC Algorithms using Optimization(232 kB)106 downloads
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Gunnarsson, SvanteNorrlöf, Mikael

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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