A Framework for Analysis of Observer-Based ILC
2009 (English)In: Proceedings of Symposium on Learning Control at IEEE CDC, 2009Conference paper (Refereed)
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
Iterative learning control, framework, estimate, asymptotic, controlled variable
IdentifiersURN: urn:nbn:se:liu:diva-53464OAI: oai:DiVA.org:liu-53464DiVA: diva2:606597
Symposium on Learning Control at IEEE CDC, Shanghai, China, December 14-15, 2009