Iteration Varying Filters in Iterative Learning Control
2002 (English)Report (Other academic)
In this contribution it is shown how an iterative learning control algorithm can be found for a disturbance rejection application where a repetitive disturbance is acting on the output of a system. It is also assumed that there is additive noise on the measurements from the system. When applying iterative learning control to a system where measurement disturbances are present it is shown that it is optimal to use iteration varying filters in the learning law. To achieve a good transient behavior it is also necessary to have an accurate model of the system. The results are also verified in simulations.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2435
Iterative learning control, Measurement noise, Disturbance rejection, ILC
IdentifiersURN: urn:nbn:se:liu:diva-55866ISRN: LiTH-ISY-R-2435OAI: oai:DiVA.org:liu-55866DiVA: diva2:316671