A Framework for Analysis of Observer-Based ILC
2010 (English)In: Proceedings of Reglermöte 2010, 2010Conference paper (Other academic)
A framework for Iterative Learning Control (ILC) is derived when the ILC algorithm is based on estimates from an observer. 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 discussed when the ILC algorithm is based on different errors and it is 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-95574OAI: oai:DiVA.org:liu-95574DiVA: diva2:636165
Reglermöte 2010, Lund, Sweden, 8-9 June, 2010