On the Design of ILC Algorithms using Optimization
2000 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2209
Iterative Learning Control, Optimization, Robotics
IdentifiersURN: urn:nbn:se:liu:diva-55732ISRN: LITH-ISY-R-2209OAI: oai:DiVA.org:liu-55732DiVA: diva2:316604