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  • 101.
    Gustafsson, Fredrik
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Time-Frequency Resolution of Signal Properties using Parametric Techniques1995Report (Other academic)
    Abstract [en]

    The problem to track time-varying properties of a signal is studied. The somewhat contradictory notion of “time-varying spectrum” and how to estimate the “current” spectrum in an on-line fashion is discussed. The traditional concepts and relations between time- and frequency resolution are crucial for this problem. An adaptive estimation algorithm is used to estimate the parameters of a time-varying autoregressive model of the signal. It is shown how this algorithm can be equipped with a feature such that the time-frequency resolution trade-off favors quick detection of changes at higher frequencies and has slower adaptation at lower frequencies. This should be an attractive feature and similar to, for example, what wavelet transform techniques achieve for the same problem.

  • 102.
    Gustafsson, Fredrik
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Time-Frequency Resolution of Signal Properties using Parametric Techniques1993Report (Other academic)
    Abstract [en]

    The problem to track time-varying properties of a signal is studied. The somewhat contradictory notion of “time-varying spectrum” and how to estimate the “current” spectrum in an on-line fashion is discussed. The traditional concepts and relations between time- and frequency resolution are crucial for this problem. An adaptive estimation algorithm is used to estimate the parameters of a time-varying autoregressive model of the signal. It is shown how this algorithm can be equipped with a feature such that the time-frequency resolution trade-off favors quick detection of changes at higher frequencies and has slower adaptation at lower frequencies. This should be an attractive feature and similar to, for example, what wavelet transform techniques achieve for the same problem.

  • 103.
    Gustafsson, Fredrik
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Shaping Frequency-Dependent Time Resolution when Estimating Spectral Properties with Parametric Methods1997In: IEEE Transactions on Signal Processing, ISSN 1053-587X, E-ISSN 1941-0476, Vol. 45, no 4, p. 1025-1035Article in journal (Refereed)
    Abstract [en]

    The problem of tracking time-varying properties of a signal is studied. The somewhat contradictory notion of “time-varying spectrum” and how to estimate the “current” spectrum in an on-line fashion is discussed. The traditional concepts and relations between time and frequency resolution are crucial for this problem. We introduce two definitions for the time resolution of filters, essentially measuring the effective number of past data that are used to form the estimate. In, for example, wavelet transform techniques, frequency-dependent time resolutions are used so that fewer data are used at higher frequencies, thus enabling faster tracking of high-frequency components (at the price of worse frequency resolution). The main contribution of the paper is to show how this same feature can be introduced when estimating spectra via a time-varying, autoregressive model of the signal. This is achieved by a special choice of nominal covariance matrix for the underlying parameter changes.

  • 104.
    Hedberg, Erik
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Moberg, Stig
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Comparing Feedback Linearization and Jacobian Linearization for LQ Control of an Industrial Manipulator2018In: Proccedings of the 12TH IFAC SYMPOSIUM ON ROBOT CONTROL, 2018Conference paper (Refereed)
    Abstract [en]

    Feedback linearization is compared to Jacobian linearization for LQ control of atwo-link industrial manipulator. A method for obtaining equivalent nominal performance forboth control designs is introduced. An experimentally verified benchmark model with industrialrelevance is used for comparing the designs. Results do not show any conclusive advantages ofFeedback linearization.

  • 105.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Louvain University, Belgium.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Convergent Iterative Restricted Complexity Control Design Scheme1994In: Proceedings of the 33rd IEEE Conference on Decision and Control, 1994, p. 1735-1740 vol.2Conference paper (Refereed)
    Abstract [en]

    In this contribution we propose an optimization approach to the design of a restricted complexity controller. The design criterion is of LQG type containing two terms. The first term is the quadratic norm of the error between the output of the true closed loop and a desired response. The second term is the quadratic norm of the input signal. It is shown that the minimization of this criterion does not require a model of the system. Closed loop experimental data can be used instead. The result is an iterative scheme of closed loop experiments and controller updates which converges to a local minimum of the design criterion under the condition of bounded signals.

  • 106.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Louvain University, Belgium.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Convergent Iterative Restricted Complexity Control Design Scheme1994Report (Other academic)
    Abstract [en]

    In this contribution we propose an optimization approach to the design of a restricted complexity controller. The design criterion is of LQG type containing two terms. The first term is the quadratic norm of the error between the output of the true closed loop and a desired response. The second term is the quadratic norm of the input signal. It is shown that the minimization of this criterion does not require a model of the system. Closed loop experimental data can be used instead. The result is an iterative scheme of closed loop experiments and controller updates which converges to a local minimum of the design criterion under the condition of bounded signals.

  • 107.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Universite Catholique de Louvain, Belgium.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Iterative Feedback Tuning: Theory and Applications1998In: IEEE Control Systems, ISSN 0272-1708, Vol. 18, no 4, p. 26-41Article in journal (Refereed)
    Abstract [en]

    We have examined an optimization approach to iterative control design. The important ingredient is that the gradient of the design criterion is computed from measured closed loop data. The approach is thus not model-based. The scheme converges to a stationary point of the design criterion under the assumption of boundedness of the signals in the loop. From a practical viewpoint, the scheme offers several advantages. It is straightforward to apply. It is possible to control the rate of change of the controller in each iteration. The objective can be manipulated between iterations in order to tighten or loosen performance requirements. Certain frequency regions can be emphasized if desired. This direct optimal tuning algorithm is particularly well suited for the tuning of the basic control loops in the process industry, which are typically PID loops. These primary loops are often very badly tuned, making the application of more advanced (for example, multivariable) techniques rather useless. A first requirement in the successful application of advanced control techniques is that the primary loops be tuned properly. This new technique appears to be a very practical way of doing this, with an almost automatic procedure.

  • 108.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology. Louvain University, Belgium.
    Gevers, Michel
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Model Free Data Driven Optimal Tuning of Controller Parameters1994Report (Other academic)
  • 109.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Université Catholique de Louvain, Belgium.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Model-free Tuning of a Robust Regulator for a Flexible Transmission System1995In: European Journal of Control, ISSN 0947-3580, E-ISSN 1435-5671, Vol. 1, no 2, p. 148-156Article in journal (Refereed)
    Abstract [en]

    Recently, a data-driven model-free iterative control design method has been proposed [Hjalmarsson et al., Proc. 33rd IEEE CDC, Orlando, FL, 1994, 1735–1740]. This design method works directly with closed loop data from the plant and iteratively improves the pelformance. This contribution reports a simulation study of this method when applied to a flexible transmission system. The system is characterised by load dependent dynamics and certain performance specifications have to be satisfied for three different load cases. These specifications cannot be translated into a specific control criterion a priori. However, by adaptively changing the design criterion it is shown that it is possible to tune the criterion so as to eventually obtain the desired closed loop performance for all three load cases with the same controller. The new concepts of synthetic noise and time delays are shown to be valuable tools when tuning the criterion.

  • 110.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michael
    Université Catholique de Louvain, Belgium.
    Model Free Tuning of a Robust Regulator for a Flexible Transmission System1995In: Proceedings of the 3rd European Control Conference, 1995Conference paper (Refereed)
  • 111.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Louvain University, Belgium.
    Model Free Tuning of a Robust Regulator for a Flexible Transmission System1995Report (Other academic)
    Abstract [en]

    Recently, a data-driven model-free iterative control design method has been proposed [Hjalmarsson et al., Proc. 33rd IEEE CDC, Orlando, FL, 1994, 1735–1740]. This design method works directly with closed loop data from the plant and iteratively improves the pelformance. This contribution reports a simulation study of this method when applied to a flexible transmission system. The system is characterised by load dependent dynamics and certain performance specifications have to be satisfied for three different load cases. These specifications cannot be translated into a specific control criterion a priori. However, by adaptively changing the design criterion it is shown that it is possible to tune the criterion so as to eventually obtain the desired closed loop performance for all three load cases with the same controller. The new concepts of synthetic noise and time delays are shown to be valuable tools when tuning the criterion.

  • 112.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Louvain University, Belgium.
    Optimality and Sub-Optimality of Iterative Identification and Control design Schemes1995In: Proceedings of the 1995 American Control Conference, 1995, p. 2559-2563 vol.4Conference paper (Refereed)
    Abstract [en]

    We demonstrate that some recently proposed itera-tive identification and control design schemes do not necessarily converge to a local minimum of the design objective in the case of a restricted complexity model. There is, however, a link between these approaches and a recently proposed iterative optimization based control design procedure based on experimental data. We show that if the achieved and the desired output responses are perfectly matched, the schemes are (essentially) equivalent under noise free conditions.

  • 113.
    Hjalmarsson, Håkan
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gevers, Michel
    Louvain University, Belgium.
    Optimality and Sub-Optimality of Iterative Identification and Control Design Schemes1995Report (Other academic)
    Abstract [en]

    We demonstrate that some recently proposed itera-tive identification and control design schemes do not necessarily converge to a local minimum of the design objective in the case of a restricted complexity model. There is, however, a link between these approaches and a recently proposed iterative optimization based control design procedure based on experimental data. We show that if the achieved and the desired output responses are perfectly matched, the schemes are (essentially) equivalent under noise free conditions.

  • 114.
    Johansson, Viktor
    et al.
    AstaZero, Sweden.
    Moberg, Stig
    ABB AB, Sweden.
    Hedberg, Erik
    Linköping University, Faculty of Science & Engineering. Linköping University, Department of Electrical Engineering, Automatic Control.
    Norrlöf, Mikael
    ABB AB, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    A learning approach for feed-forward friction compensation2018In: Proceedings of the 12th IFAC Symposium on Robot Control, 2018Conference paper (Other academic)
    Abstract [en]

    An experimental comparison of two feed-forward based frictioncompensation methods is presented. The first method is based on theLuGre friction model, using identified friction model parameters, andthe second method is based on B-spline network, where the networkweights are learned from experiments. The methods are evaluated andcompared via experiments using a six axis industrial robot carryingout circular movements of different radii. The experiments show thatthe learning-based friction compensation gives an error reduction ofthe same magnitude as for the LuGre-based friction compensation.

  • 115.
    Karlsson, Rickard
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Törnqvist, David
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hansson, Anders
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Automatic Control Project Course: A Positioning and Control Application for an Unmanned Aerial Vehicle2006Report (Other academic)
    Abstract [en]

    In the Conceive – Design – Implement - Operate (CDIO) project course in automatic control, an autonomous unmanned aerial vehicle (UAV) is constructed, utilising an existing radio controlled model aircraft. By adding an inertial sensor that measures acceleration and rotation, together with a Global Positioning System (GPS) sensor, the aim is to construct an accurate positioning system. This is used by an onboard computer to calculate control surface signals to a set of servos in order to follow a predefined way-point trajectory. The project involves 17 students and comprises both positioning, control and hardware design. The main pedagogical goal is for students to apply their theoretical knowledge within a project framework in order to improve important aspects of their engineering skills in a realistic manner.

  • 116.
    Karlsson, Rickard
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Törnqvist, David
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hansson, Anders
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Automatic Control Project Course: A Positioning and Control Application for an Unmanned Aerial Vehicle2006In: World Transactions on Engineering and Technology Education, ISSN 1446-2257, Vol. 5, p. 291-294Article in journal (Refereed)
    Abstract [en]

    In the Conceive – Design – Implement - Operate (CDIO) project course in automatic control, an autonomous unmanned aerial vehicle (UAV) is constructed, utilising an existing radio controlled model aircraft. By adding an inertial sensor that measures acceleration and rotation, together with a Global Positioning System (GPS) sensor, the aim is to construct an accurate positioning system. This is used by an onboard computer to calculate control surface signals to a set of servos in order to follow a predefined way-point trajectory. The project involves 17 students and comprises both positioning, control and hardware design. The main pedagogical goal is for students to apply their theoretical knowledge within a project framework in order to improve important aspects of their engineering skills in a realistic manner.

  • 117.
    Klein, Inger
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Nielsen, Lars
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
    Framstående utbildningsmiljö - Hur blir man det?2008In: Nätverket Ingenjörsutbildningarnas Utvecklingskonferens 2008, 2008Conference paper (Other academic)
    Abstract [sv]

    Studierektorsområdet Reglersystem vid LiTH (Tekniska Högskolan vid Linköpings universitet) tilldelades 2007 utmärkelsen Framstående Utbildningsmiljö av Högskoleverket. Utmärkelsen gavs till sammanlagt fem utbildningsmiljöer, varav två är verksamma inom ingenjörsutbildning. I detta bidrag avser vi att redogöra för denna process och de faktorer som främst bidrog till att området Reglersystem fick denna utmärkelse. De faktorer som lyfts fram som centrala för att åstadkomma en god utbildningskvalité är framför allt att ha tydliga mål för utbildningen, en gedigen ämnesmässig grund, en väl fungerande organisation och positiv attityd bland alla medverkande samt former för lärande och examination som är anpassade till utbildningens mål.

  • 118.
    Krus, Petter
    et al.
    Linköping University, Department of Management and Engineering, Mechanics. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Adaptive Control of a Hydraulic Crane using On-Line Identification1993Report (Other academic)
    Abstract [en]

    In this paper we present an approach to adaptive control of hydraulic actuators with flexible mechanical loads. The approach is based on recursive identification of low order models of the dynamics from valve input to actuator position and effective load pressure respectively. The model parameters are used to compute a regulator that gives a well damped system with good servo properties. The identification is carried out on-line in closed loop with no other signals than those present in normal operation. Here RLS with variable forgetting factor is used. The method does not, however, need not more paramters to be set a priori than ordinary RLS with fix forgetting factor. In this way an easily tuned and robust identification algorithm is obtained. Results from experiments carried out on a lorry crane are presented.

  • 119.
    Krus, Petter
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Management and Engineering, Machine Design. Linköping University, The Institute of Technology.
    Adaptive Control with Impact Detection of a Hydraulic Actuator Connected to a Flexible Mechanical Structure1995Report (Other academic)
  • 120.
    Ljung, Lennart
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Adaptation and Tracking in System Identification1988Report (Other academic)
    Abstract [en]

    This article gives a survey of basic techniques to derive and analyse algorithms for tracking time-varying systems. Special attention is paid to how different assumptions about the true system affect the algorithms. Explicit and semi-explicit expressions for the means square errors are derived, which clearly demonstrate the character of the trade-off between tracking ability and noise sensitivity.

  • 121.
    Ljung, Lennart
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Adaptation and Tracking in System Identification: A Survey1990In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 26, no 1, p. 7-21Article in journal (Refereed)
    Abstract [en]

    To track the time-varying dynamics of a system or the time-varying properties of a signal is a fundamental problem in control and signal processing. Many approaches to derive such adaptation algorithms and to analyse their behaviour have been taken. This article gives a survey of basic techniques to derive and analyse algorithms for tracking time-varying systems. Special attention is paid to the study of how different assumptions about the true system's variations affect the algorithm. Several explicit and semi-explicit expressions for the mean square error are derived, which clearly demonstrate the character of the trade-off between tracking ability and noise rejection.

  • 122.
    Ljung, Lennart
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gustafsson, Fredrik
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Time-Frequency Resolution of Signal Properties using Parametric Techniques1994In: Proceedings of the 33rd IEEE Conference on Decision and Control, 1994, p. 2259-2264 vol.3Conference paper (Refereed)
    Abstract [en]

    The problem to track time-varying properties of a signal is studied. The somewhat contradictory notion of “time-varying spectrum” and how to estimate the “current” spectrum in an on-line fashion is discussed. The traditional concepts and relations between time- and frequency resolution are crucial for this problem. An adaptive estimation algorithm is used to estimate the parameters of a time-varying autoregressive model of the signal. It is shown how this algorithm can be equipped with a feature such that the time-frequency resolution trade-off favors quick detection of changes at higher frequencies and has slower adaptation at lower frequencies. This should be an attractive feature and similar to, for example, what wavelet transform techniques achieve for the same problem.

  • 123.
    Malmqvist, Johan
    et al.
    Chalmers University of Technology, Sweden.
    Edström, Kristina
    Royal Institute of Technology, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Östlund, Sören
    Royal Institute of Technology, Sweden.
    The Application of CDIO Standards in the Evaluation of Swedish Engineering Degree Programmes2006In: World Transactions on Engineering and Technology Education, ISSN 1446-2257, Vol. 5, no 2, p. 361-364Article in journal (Refereed)
    Abstract [en]

    In this article, the authors report on a large-scale application of the Conceive – Design – Implement – Operate (CDIO) Standards, involving approximately 100 educational programmes. The context is the Swedish national evaluation of its civilingenjör engineering degree programmes undertaken by the Swedish National Agency for Higher Education (Högskoleverket, HSV). The authors first briefly describe the CDIO Standards focusing on their role as a support for continuous programme development. The authors then outline the HSV evaluation process and account for HSV’s motives for including the CDIO Standards evaluation in the self-evaluation package and the modifications made compared to the original CDIO Standards. The results are presented from a survey and an interview study directed to those programme managers who have applied CDIO Standards in the HSV evaluation. The questions in the survey are aimed at investigating respondents’ views of the relevance, benefits, limitations and ease of use of the CDIO Standards. The questions are targeted at both the overall level – the body of standards – as well as at the level of single standards.

  • 124.
    Malmqvist, Johan
    et al.
    Chalmers University of Technology, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Viglid, Martin
    Technical University of Denmark, Denmark.
    Faculty Professional Competence Development Programs - Comparing Approaches from Three Universities2008In: Proceedings of the 4th International CDIO Conference, 2008Conference paper (Refereed)
    Abstract [en]

    This paper describes faculty professional competence development programs at Chalmers University of Technology, the Technical University of Denmark, and Linköping University. Examples of professional competences include project management, communication, teamwork and organizational change management. The description of the programs is complemented by interviews with faculty aiming at clarifying the needs for and experiences from faculty professional competences development programs.

  • 125.
    Malmqvist, Johan
    et al.
    Chalmers University of Technology, Gothenburg, Sweden.
    Knutsson Wedel, Maria
    Chalmers University of Technology, Gothenburg, Sweden.
    Lundquist, Ulrika
    Chalmers University of Technology, Gothenburg, Sweden.
    Edström, Kristina
    KTH Royal Institute of Technology, Stockholm, Sweden.
    Roesén, Anders
    KTH Royal Institute of Technology, Stockholm, Sweden.
    Fruergaard Astrup, Thomas
    DTU Technical University of Denmark, Lyngby, Denmark.
    Vigild, Martin
    DTU Technical University of Denmark, Lyngby, Denmark.
    Munkebo Hussman, Peter
    DTU Technical University of Denmark, Lyngby, Denmark.
    Grom, Audun
    Norwegian University of Science and Technology, Trondheim, Norway.
    Lyng, Rediar
    Norwegian University of Science and Technology, Trondheim, Norway.
    Gunnarsson, Svante
    Linköping University, Faculty of Science & Engineering. Linköping University, Department of Electrical Engineering, Automatic Control.
    Leong-Wee Kwee Huay, Helene
    Singapore Polytechnic, Singapore.
    Kamp, Aldert
    TU Delft, Delft, The Netherlands.
    Towards CDIO Standards 3.02019In: The 15th International CDIO Conference Proceedings – Full Papers / [ed] Jens Bennedsen, Aage Birkkjær Lauritsen, Kristina Edström, Natha Kuptasthien, Janne Roslöf & Robert Songer, 2019, p. 44-66Conference paper (Refereed)
    Abstract [en]

    The topic of this paper is the CDIO Standards, specifically the formulation of CDIO Standards version 3.0. The paper first reviews the potential change drivers that motivate a revision of the Standards. Such change drivers are identified both externally (i.e., from outside of the CDIO community) and internally. It is found that external change drivers have affected the perceptions of what problems engineers should address, what knowledge future engineers should possess and what are the most effective teaching practices in engineering education. Internally, the paper identifies criticism of the Standards, as well as ideas for development, that have been codified as proposed additional CDIO Standards. With references to these change drivers, five areas are identified for the revision: sustainability, digitalization of teaching and learning; service; and faculty competence. A revised version of the Standards is presented. In addition, it is proposed that a new category of Standards is established, “optional standards”. Optional Standards are a complement to the twelve “basic” Standards, and serve to guide educational development and profiling beyond the current Standards. A selected set of proposed optional Standards are recommended for further evaluation and possibly acceptance by the CDIO community

  • 126.
    Moberg, Stig
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Öhr, Jonas
    ABB AB, Crane Systems, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator2008In: Proceedings of the 17th IFAC World Congress, 2008, p. 1206-1211Conference paper (Refereed)
    Abstract [en]

    A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and the tool. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only disturbance rejection. The proposed model is validated by experiments on a real industrial manipulator.

  • 127.
    Moberg, Stig
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Öhr, Jonas
    ABB AB, Crane Systems, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator2008Report (Other academic)
    Abstract [en]

    A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and the tool. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only disturbance rejection. The proposed model is validated by experiments on a real industrial manipulator.

  • 128.
    Moberg, Stig
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Öhr, Jonas
    ABB AB, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Benchmark Problem for Robust Feedback Control of a Flexible Manipulator2009In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 17, no 6, p. 1398-1405Article in journal (Refereed)
    Abstract [en]

    A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.

  • 129.
    Moberg, Stig
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Öhr, Jonas
    ABB AB, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Benchmark Problem for Robust Feedback Control of a Flexible ManipulatorA benchmark problem for robust feedback control of a flexible manipulator2007Report (Other (popular science, discussion, etc.))
    Abstract [en]

    A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.

  • 130.
    Nielsen, Lars
    et al.
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Nyberg, Mattias
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Frisk, Erik
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Bäckström, Christer
    Linköping University, Department of Computer and Information Science, Software and Systems. Linköping University, Faculty of Science & Engineering.
    Henriksson, Anders
    Linköping University, Department of Computer and Information Science. Linköping University, Faculty of Science & Engineering.
    Klein, Inger
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Gustafsson, Fredrik
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Issues in Diagnosis, Supervision, and Safety1996Report (Other academic)
    Abstract [en]

    Issues concerning diagnosis, supervision and saftey are found in many technologically advanced products. There is now a trend to extend the functionality of diagnosis and supervision systems to handle more advanced situations. This report collects some of the initiatives taking place in research and some of the developments taking place in the industry.

  • 131.
    Norrlöf, Mikael
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
    Gunnarson, Svante
    Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
    A Frequency Domain Analysis of a Second Order Iterative Learning Control Algorithm1999In: 38th IEEE Conference on Decision and Control,1999, Pheonix, AZ, USA: IEEE , 1999, p. 1587-Conference paper (Refereed)
    Abstract [en]

    A frequency domain analysis of a second order Iterative Learning Control (ILC) algorithm is considered. It is shown that an unstable first order ILC can be stabilized by the introduction of a second order term in the ILC. Bounds for stability are presented in the frequency domain for the second order term. The bounds are found using a geometrical approach based on the special structure of the transfer matrix in the iterative system. Two examples are included showing that introducing the higher order ILC can both stabilize an unstable first order ILC algorithm, as well as give better convergence properties compared to using a first order ILC algorithm.

  • 132.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Frequency Domain Analysis of a Second Order Iterative Learning Control Algorithm1999Report (Other academic)
    Abstract [en]

    A frequency domain analysis method of a second order iterative learning control (ILC) algorithm is considered. Using the notion of iterative systems bounds for stability are presented in the frequency domain for the second order term. The bounds are found using a geometrical approach based on the special structure of the transfer matrix in the iterative system. Two examples are included showing how the analysis method can be used in an application.

  • 133.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Model Based Iterative Learning Control Method Applied to 3 Axes of a Commercial Industrial Robot2000In: Proceedings of the 6th IFAC Symposium on Robot Control, 2000Conference paper (Refereed)
    Abstract [en]

    A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.

  • 134.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Model Based Iterative Learning Control Method Applied to an Industrial Robot2000In: Proceedings of Reglermöte 2000, 2000, p. 73-78Conference paper (Other academic)
    Abstract [en]

    A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.

  • 135.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Model Based Iterative Learning Control Method Applied to an Industrial Robot1999Report (Other academic)
    Abstract [en]

    A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.

  • 136.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Note on Causal and CITE Iterative Learning Control Algorithms2003Report (Other academic)
    Abstract [en]

    Time and frequency domain convergence properties of causal and Current Iteration Tracking Error (CITE) discrete time Iterative Learning Control (ILC) algorithms are discussed. Considering necessary and sufcient convergence conditions basic matrix properties can be utilized to show that causal as well as CITE ILC algorithms converge to zero error in only very restrictive special cases. The frequency domain convergence conditions, sucient for monotone convergence, are studied using a discrete-time version of Bode's integral theorem. The result is that causal and CITE ILC algorithms will not satisfy the frequency domain conditions except if the system has relative degree zero or it is accepted that the algorithms do not converge to zero error.

  • 137.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Note on Causal and CITE Iterative Learning Control Algorithms2005In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 41, no 2, p. 345-350Article in journal (Refereed)
    Abstract [en]

    The convergence properties of causal and current iteration tracking error (CITE) discrete time iterative learning control (ILC) algorithms are studied using time and frequency domain convergence criteria. Of particular interest are conditions for monotone convergence, and these are evaluated using a discrete-time version of Bode's integral theorem.

  • 138.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Disturbance Aspects of High Order Iterative Learning Control2002In: Proceedings of the 15th IFAC World Congress, 2002, p. 986-986Conference paper (Refereed)
    Abstract [en]

    Some initial results on the disturbance properties of high order iterative learning control (ILC) algorithms are presented. Of particular interest is to investigate how high order ILC algorithms cope with measurement and load disturbances of different character. Some results are obtained by assuming statistical properties of the involved disturbances and deriving equations for the covariance matrix of the control error vector. The results are illustrated by analytic derivation of the covariance matrix for a second order ILC algorithm with a particular choice of design variables.

  • 139.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Disturbance Aspects of High Order Iterative Learning Control2002Report (Other academic)
    Abstract [en]

    Some initial results on the disturbance properties of high order iterative learning control (ILC) algorithms are presented. Of particular interest is to investigate how high order ILC algorithms cope with measurement and load disturbances of different character. Some results are obtained by assuming statistical properties of the involved disturbances and deriving equations for the covariance matrix of the control error vector. The results are illustrated by analytic derivation of the covariance matrix for a second order ILC algorithm with a particular choice of design variables.

  • 140.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Disturbance Aspects of Iterative Learning Control2001Report (Other academic)
    Abstract [en]

    Disturbance aspects of iterative learning control (ILC) are considered. By using a linear framework it is possible to investigate the influence of the disturbances in the frequency domain. The effects of the design filters in the ILC algorithm on the disturbance properties can then be analyzed. The analysis is supported by simulations and experiments.

  • 141.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Disturbance Aspects of Iterative Learning Control2000Report (Other academic)
    Abstract [en]

    Disturbance aspects of iterative learning control (ILC) are considered. By using a linear framework it is possible to investigate the influence of the disturbances in the frequency domain. The effects of the design filters in the ILC algorithm on the disturbance properties can then be analyzed. The analysis is supported by simulations and experiments.

  • 142.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Disturbance Aspects of Iterative Learning Control2001In: Engineering applications of artificial intelligence, ISSN 0952-1976, E-ISSN 1873-6769, Vol. 14, no 1, p. 87-94Article in journal (Refereed)
    Abstract [en]

    Disturbance aspects of iterative learning control (ILC) are considered. By using a linear framework it is possible to investigate the influence of the disturbances in the frequency domain. The effects of the design filters in the ILC algorithm on the disturbance properties can then be analyzed. The analysis is supported by simulations and experiments.

  • 143.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Experimental Comparison of some Classical Iterative Learning Control Algorithms2002Report (Other academic)
    Abstract [en]

    This paper gives an overview of classical Iterative Learning Control algorithms. The presented algorithms are also evaluated on a commercial industrial robot from ABB. The presentation covers implicit to explicit model based algorithms. The result from the evaluation of the algorithms is that performance can be achieved by having more system knowledge.

  • 144.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Experimental Comparison of some Classical Iterative Learning Control Algorithms2002In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 18, no 4, p. 636-641Article in journal (Refereed)
    Abstract [en]

    This letter gives an overview of classical iterative learning control algorithms. The presented algorithms are also evaluated on a commercial industrial robot from ABB. The presentation covers implicit to explicit model-based algorithms. The result from the evaluation of the algorithms is that performance can be achieved by having more system knowledge.

  • 145.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Iterative Learning Control with Disturbances1998In: Proceedings of Reglermöte 98, 1998, p. 198-202Conference paper (Other academic)
    Abstract [en]

    Iterative Learning Control is presented briefly together with some results on convergence and some new results on iterative learning control with measurement disturbances. In the example given, iterative learning control is used in combination with conventional feed-back and feed-forward control, and it is shown that the control is highly affected by the disturbances. Some ideas on how the filters in the algorithm should be chosen are also discussed.

  • 146.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Some New Results on Current Iteration Tracking Error ILC2002In: Proceedings of the 4th Asian Control Conference, 2002Conference paper (Refereed)
    Abstract [en]

    Frequency domain convergence conditions for Current Iteration Tracking Error (CITE) Iterative Learning Control (ILC) algorithms are presented. The convergence conditions together with a discrete-time version of Bodes integral theorem imply a strong restriction upon the kind of systems that can be controlled using a CITE ILC algorithm. The restriction is caused by the fact that the filter in the ILC algorithm has to be causal and and part of a closed loop system that has to be stable.

  • 147.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Some New Results on Current Iteration Tracking Error ILC2002Report (Other academic)
    Abstract [en]

    Frequency domain convergence conditions for Current Iteration Tracking Error (CITE) Iterative Learning Control (ILC) algorithms are presented. The convergence conditions together with a discrete-time version of Bodes integral theorem imply a strong restriction upon the kind of systems that can be controlled using a CITE ILC algorithm. The restriction is caused by the fact that the filter in the ILC algorithm has to be causal and and part of a closed loop system that has to be stable.

  • 148.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Some Results on Iterative Learning Control with Disturbances1998Report (Other academic)
    Abstract [en]

    Iterative Learning Control is presented briefly together with a review of some results on convergence and some new results on Iterative Learning Control with load disturbances and measurement disturbances. In the example presented, Iterative Learning Control is used in combination with conventional feed-back and feed-forward control, and it is shown that learning control is highly affected by the different disturbances. Some ideas on how the filters in the ILC algorithm should be chosen are also discussed.

  • 149.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Time and Frequency Domain Convergence Properties in Iterative Learning Control2002In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 75, no 14, p. 1114-1126Article in journal (Refereed)
    Abstract [en]

    The convergence properties of iterative learning control (ILC) algorithms are considered. The analysis is carried out in a framework using linear iterative systems, which enables several results from the theory of linear systems to be applied. This makes it possible to analyse both first-order and high-order ILC algorithms in both the time and frequency domains. The time and frequency domain results can also be tied together in a clear way. Results are also given for the iteration-variant case, i.e. when the dynamics of the system to be controlled or the ILC algorithm itself changes from iteration to iteration.

  • 150.
    Norrlöf, Mikael
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Using Iterative Learning Control to get Better Performance of Robot Control Systems1997In: Proceedings of Robotikdagarna 1997, 1997Conference paper (Other academic)
    Abstract [en]

    Many manipulators at work in factories today repeat their motions over and over in cycles and if there are errors in following the trajectory these errors will also be repeated cycle after cycle. The basic idea behind iterative learning control (ILC) is that the controller should learn from previous cycles and perform better every cycle. Iterative learning control is used in combination with conventional feed-back and feed-forward control, and it is shown that learning control signal can handle the effects of unmodeled dynamics and friction. Convergence and disturbance effects as well as the choice of filters in the updating scheme are also addressed.

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