Journal ArticleDOI
Iterative learning control for discrete-time systems with exponential rate of convergence
N. Amann,David H. Owens,Eric Rogers +2 more
- Vol. 143, Iss: 2, pp 217-224
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TLDR
An algorithm for iterative learning control is proposed based on an optimisation principle used by other authors to derive gradient-type algorithms and has potential benefits which include realisation in terms of Riccati feedback and feedforward components.Abstract:
An algorithm for iterative learning control is proposed based on an optimisation principle used by other authors to derive gradient-type algorithms. The new algorithm is a descent algorithm and has potential benefits which include realisation in terms of Riccati feedback and feedforward components. This realisation also has the advantage of implicitly ensuring automatic step-size selection and hence guaranteeing convergence without the need for empirical choice of parameters. The algorithm achieves a geometric rate of convergence for invertible plants. One important feature of the proposed algorithm is the dependence of the speed of convergence on weight parameters appearing in the norms of the signals chosen for the optimisation problem.read more
Citations
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Iterative learning control for LTV systems with applications to an industrial robot
TL;DR: Two ILC algorithms for systems with LTV dynamics are developed and it is shown that the dynamic game and the optimal control problem can be solved using existing, computationally efficient algorithms.
Proceedings ArticleDOI
Design of norm-optimal iterative learning controllers: The effect of an iteration-domain Kalman filter for disturbance estimation
TL;DR: It is concluded that the clear separation of disturbance estimation and input update of the K-ILC algorithm provides an intuitive architecture to design learning schemes that achieve both low noise sensitivity and fast convergence.
Proceedings ArticleDOI
Observer Based Iterative Learning Controller Design for MIMO Systems in Discrete Time
TL;DR: An obvious block structure implementation of the ILC algorithm that requires only the first Markov parameter matrix of the system is introduced, and large values of the transient response is undesirable, and how to clip off such responses is shown, while maintaining eventual convergence of the iteration.
References
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Numerical recipes in C
TL;DR: The Diskette v 2.06, 3.5''[1.44M] for IBM PC, PS/2 and compatibles [DOS] Reference Record created on 2004-09-07, modified on 2016-08-08.
Book
Optimization by Vector Space Methods
TL;DR: This book shows engineers how to use optimization theory to solve complex problems with a minimum of mathematics and unifies the large field of optimization with a few geometric principles.
Book
Optimal Control
TL;DR: Reading optimal control frank l lewis solution manual ebook pdf 2019 is extremely useful because you could get enough detailed information in the book technology has.