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A Framework for Analysis of Observer-Based ILC
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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2011 (English)In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, Vol. 13, no 1, 3-14 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Iterative learning control, Framework, Estimate, Asymptotic, Controlled variable
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-67570DOI: 10.1002/asjc.261ISI: 000286491600002OAI: oai:DiVA.org:liu-67570DiVA: diva2:411272
Available from: 2011-04-18 Created: 2011-04-18 Last updated: 2017-12-11

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Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante

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