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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.
2010 (English)In: Proceedings of Reglermöte 2010, 2010Conference paper, Published paper (Other academic)
Abstract [en]

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
2010.
Keyword [en]
Iterative learning control, Framework, Estimate, Asymptotic, Controlled variable
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-95574OAI: oai:DiVA.org:liu-95574DiVA: diva2:636165
Conference
Reglermöte 2010, Lund, Sweden, 8-9 June, 2010
Available from: 2013-07-09 Created: 2013-07-09 Last updated: 2013-07-09

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Norrlöf, MikaelGunnarsson, Svante

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