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A Note on Causal and CITE Iterative Learning Control Algorithms
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.
2003 (English)Report (Other academic)
Abstract [en]

Time and frequency domain convergence properties of causal and Current Iteration Tracking Error (CITE) discrete time Iterative Learning Control (ILC) algorithms are discussed. Considering necessary and sufcient convergence conditions basic matrix properties can be utilized to show that causal as well as CITE ILC algorithms converge to zero error in only very restrictive special cases. The frequency domain convergence conditions, sucient for monotone convergence, are studied using a discrete-time version of Bode's integral theorem. The result is that causal and CITE ILC algorithms will not satisfy the frequency domain conditions except if the system has relative degree zero or it is accepted that the algorithms do not converge to zero error.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 17 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2510
Keyword [en]
iterative learning control, frequency domain, causal
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55937ISRN: LiTH-ISY-R-2510OAI: oai:DiVA.org:liu-55937DiVA: diva2:316795
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved

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Norrlöf, MikaelGunnarsson, Svante

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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
  • html
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  • asciidoc
  • rtf