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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.
2009 (English)In: Proceedings of Symposium on Learning Control at IEEE CDC, 2009Conference paper, Published paper (Refereed)
Abstract [en]

A framework for Iterative Learning Control (ILC) is proposed for the situation when the ILC algorithm is based on an estimate of the controlled variable obtained from an observer-based estimation procedure. Under the assumption 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 then exemplified by an ILC algorithm applied to a flexible two-mass model of a robot joint.

Place, publisher, year, edition, pages
2009.
Keyword [en]
Iterative learning control, framework, estimate, asymptotic, controlled variable
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-53464OAI: oai:DiVA.org:liu-53464DiVA: diva2:606597
Conference
Symposium on Learning Control at IEEE CDC, Shanghai, China, December 14-15, 2009
Available from: 2010-01-22 Created: 2010-01-22 Last updated: 2013-07-06

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Norrlöf, MikaelGunnarsson, Svante

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