Iterative learning control and repetitive control for engineering practice

doi:10.1080/002071700405905

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Iterative learning control and repetitive control for engineering practice

Journal Article•DOI•

Iterative learning control and repetitive control for engineering practice

Richard W. Longman¹•Institutions (1)

Columbia University¹

01 Jan 2000-International Journal of Control (Taylor & Francis Group)-Vol. 73, Iss: 10, pp 930-954

TL;DR: In this article, the authors discuss linear iterative learning and repetitive control, presenting general purpose control laws with only a few parameters to tune The method of tuning them is straightforward, maki

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Abstract: This paper discusses linear iterative learning and repetitive control, presenting general purpose control laws with only a few parameters to tune The method of tuning them is straightforward, maki

...read moreread less

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Journal Article•DOI•

A survey of iterative learning control

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Douglas A. Bristow¹, Marina Tharayil, Andrew G. Alleyne•Institutions (1)

University of Illinois at Urbana–Champaign¹

30 May 2006-IEEE Control Systems Magazine

TL;DR: Though beginning its third decade of active research, the field of ILC shows no sign of slowing down and includes many results and learning algorithms beyond the scope of this survey.

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Abstract: This article surveyed the major results in iterative learning control (ILC) analysis and design over the past two decades. Problems in stability, performance, learning transient behavior, and robustness were discussed along with four design techniques that have emerged as among the most popular. The content of this survey was selected to provide the reader with a broad perspective of the important ideas, potential, and limitations of ILC. Indeed, the maturing field of ILC includes many results and learning algorithms beyond the scope of this survey. Though beginning its third decade of active research, the field of ILC shows no sign of slowing down.

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2,645 citations

Cites background or methods from "Iterative learning control and repe..."

...Insights into the cause of large transient growth in ILC systems are presented in [4], [7], [43], [71], and [72]....
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...Repeating disturbances [44], repeated nonzero initial conditions [4], and systems augmented with feedback and feedforward control [44] can be captured in d(k)....
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...The stability condition (15) is only sufficient and, in general, much more conservative than the necessary and sufficient condition (11) [4]....
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...The difference in initial-condition resetting leads to different analysis techniques and results [4]....
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...The most favorable and generally applicable approach to achieving monotonic convergence is to modify the learning algorithm to include a lowpass Q-filter [4], [7], [41], [70]....
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Journal Article•DOI•

Iterative Learning Control: Brief Survey and Categorization

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Hyo-Sung Ahn¹, YangQuan Chen², Kevin L. Moore•Institutions (2)

Gwangju Institute of Science and Technology¹, Utah State University²

01 Nov 2007

TL;DR: The iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed, extending the earlier reviews presented by two of the authors.

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Abstract: In this paper, the iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed, extending the earlier reviews presented by two of the authors. The papers includes a general introduction to ILC and a technical description of the methodology. The selected results are reviewed, and the ILC literature is categorized into subcategories within the broader division of application-focused and theory-focused results.

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1,417 citations

Cites background from "Iterative learning control and repe..."

...In this respect, we hope that the next ILC survey to appear will find that more papers such as [259] will have been published....
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...Longman gave a valuable discussion in [259], providing several important guidelines for the actual design of ILC and repetitive control (RC) algorithms....
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Journal Article•DOI•

Survey on iterative learning control, repetitive control, and run-to-run control

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Youqing Wang¹, Furong Gao², Francis J. Doyle¹•Institutions (2)

University of California, Santa Barbara¹, Hong Kong University of Science and Technology²

01 Dec 2009-Journal of Process Control

TL;DR: Three control methods—iterative learning control, repetitive control (RC), and run-to-run control (R2R)—are studied and compared and some promising fields for learning-type control are revealed.

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679 citations

Cites result from "Iterative learning control and repe..."

...For example, in [1], ILC and RC were compared based on experimental results....
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Book•

Data-Driven Science and Engineering: Machine Learning, Dynamical Systems, and Control

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Steven L. Brunton¹, J. Nathan Kutz¹•Institutions (1)

University of Washington¹

28 Feb 2019

TL;DR: In this paper, the authors bring together machine learning, engineering mathematics, and mathematical physics to integrate modeling and control of dynamical systems with modern methods in data science, and highlight many of the recent advances in scientific computing that enable data-driven methods to be applied to a diverse range of complex systems, such as turbulence, the brain, climate, epidemiology, finance, robotics, and autonomy.

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Abstract: Data-driven discovery is revolutionizing the modeling, prediction, and control of complex systems. This textbook brings together machine learning, engineering mathematics, and mathematical physics to integrate modeling and control of dynamical systems with modern methods in data science. It highlights many of the recent advances in scientific computing that enable data-driven methods to be applied to a diverse range of complex systems, such as turbulence, the brain, climate, epidemiology, finance, robotics, and autonomy. Aimed at advanced undergraduate and beginning graduate students in the engineering and physical sciences, the text presents a range of topics and methods from introductory to state of the art.

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563 citations

Journal Article•DOI•

The dynamics of the piezo inkjet printhead operation

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Hma Herman Wijshoff

01 Jun 2010-Physics Reports

TL;DR: In this paper, the physics behind the two-way coupling from the electrical to the mechanical domain through the piezoelectric actuator, where an electrical signal is transformed into a mechanical deformation of the printhead structure, is discussed.

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481 citations

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References

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Journal Article•DOI•

Bettering Operation of Robots by Learning

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Suguru Arimoto¹, Sadao Kawamura¹, Fumio Miyazaki¹•Institutions (1)

Osaka University¹

01 Jun 1984-Journal of Robotic Systems

TL;DR: A betterment process for the operation of a mechanical robot in a sense that it betters the nextoperation of a robot by using the previous operation's data is proposed.

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Abstract: This article proposes a betterment process for the operation of a mechanical robot in a sense that it betters the next operation of a robot by using the previous operation's data. The process has an iterative learning structure such that the (k + 1)th input to joint actuators consists of the kth input plus an error increment composed of the derivative difference between the kth motion trajectory and the given desired motion trajectory. The convergence of the process to the desired motion trajectory is assured under some reasonable conditions. Numerical results by computer simulation are presented to show the effectiveness of the proposed learning scheme.

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3,222 citations

Journal Article•DOI•

Toeplitz Forms and Their Applications.

[...]

Leonard J. Savage, Ulf Grenander, Gabor Szego

01 Sep 1958-Journal of the American Statistical Association

TL;DR: In this article, Toeplitz forms are used for the trigonometric moment problem and other problems in probability theory, analysis, and statistics, including analytic functions and integral equations.

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Abstract: Part I: Toeplitz Forms: Preliminaries Orthogonal polynomials. Algebraic properties Orthogonal polynomials. Limit properties The trigonometric moment problem Eigenvalues of Toeplitz forms Generalizations and analogs of Toeplitz forms Further generalizations Certain matrices and integral equations of the Toeplitz type Part II: Applications of Toeplitz Forms: Applications to analytic functions Applications to probability theory Applications to statistics Appendix: Notes and references Bibliography Index.

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2,279 citations

Book•

Toeplitz forms and their applications

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Ulf Grenander, Gabor Szego, Mark Kac

01 Jan 1984

TL;DR: In this paper, Toeplitz forms are used for the trigonometric moment problem and other problems in probability theory, analysis, and statistics, including analytic functions and integral equations.

...read moreread less

1,643 citations

Journal Article•DOI•

Analysis and Synthesis of Discrete-Time Repetitive Controllers

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Masayoshi Tomizuka¹, Tsu-Chin Tsao¹, Kok-Kia Chew¹•Institutions (1)

University of California, Berkeley¹

01 Sep 1989-Journal of Dynamic Systems Measurement and Control-transactions of The Asme

620 citations

"Iterative learning control and repe..." refers background in this paper

...The origins of repetitive control had different motivation, and early works include Inoue et al. (1981), Omata et al. (1984), Hara et al. (1985 a,b), Nakano and Hara (1986) and Tomizuka et al. (1989)....
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...To handle these zeros one can cancel their phase as in Tomizuka et al. (1989)....
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...Anytime one has a controller that is to perform the same tacking command repeatedly, one simply uses such a law to adjust the command given to an existing feedback controller and achieves a substantial decrease in tracking error....
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Journal Article•DOI•

Formation of High-Speed Motion Pattern of a Mechanical Arm by Trial

[...]

Masaru Uchiyama¹•Institutions (1)

Tohoku University¹

30 Dec 1978-Journal of the Society of Instrument and Control Engineers

519 citations

"Iterative learning control and repe..." refers background in this paper

...Arimoto et al. (1984), Casalino and Bartolini (1984) and Craig (1984) are independent developments of similar ideas that year, with Uchiyama (1978) being one of the precursors....
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