Some Implementation Aspects of Iterative Learning Control
2010 (English)Report (Other academic)
Some implementation aspects of Iterative Learning Control (ILC) are considered. Since the ILC algorithm involves ﬁltering of various signals over ﬁnite time intervals, often using non-causal ﬁlters, it is important that the boundary eﬀects of the ﬁltering operations are handled in an appropriate way when implementing the ILC algorithm. The paper illustrates in both theoretical analysis using the matrix description and in simulations of a twomass system that the method of implementation for handling the boundary eﬀects can have large inﬂuence over stability and convergence properties of the ILC algorithm.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 9 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2967
Iterative methods, Learning control, Convergence, Filtering, Implementation, Boundary conditions
IdentifiersURN: urn:nbn:se:liu:diva-97606ISRN: LiTH-ISY-R-2967OAI: oai:DiVA.org:liu-97606DiVA: diva2:649238