A Framework for Analysis of Observer-Based ILC
2011 (English)In: Asian journal of control, ISSN 1561-8625, Vol. 13, no 1, 3-14 p.Article in journal (Refereed) Published
A framework for iterative learning control (ILC) is proposed for the situation when an ILC algorithm uses an estimate of the controlled variable obtained from an observer-based estimation procedure. Assuming that the ILC input converges to a bounded signal, a general expression for the asymptotic error of the controlled variable is given. The asymptotic error is exemplified by an ILC algorithm applied to a flexible two-mass model of a robot joint.
Place, publisher, year, edition, pages
John Wiley & Sons, 2011. Vol. 13, no 1, 3-14 p.
Iterative learning control, Framework, Estimate, Asymptotic, Controlled variable
IdentifiersURN: urn:nbn:se:liu:diva-67570DOI: 10.1002/asjc.261ISI: 000286491600002OAI: oai:DiVA.org:liu-67570DiVA: diva2:411272