Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification


Alsubaie, Muhammad Ali, Cai, Zhonglun, Freeman, Christopher T., Lewin, Paul L. and Rogers, Eric (2008) Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification. In, The 17th IFAC World Congress, Seoul, Korea, 06 - 11 Jul 2008. , 3562-3567.

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Description/Abstract

A duality theory existing between iterative learning and repetitive control for linear time-invariant systems has been reported. This paper considers the application of this duality in the design of such controllers for a non-minimum phase experimental facility and a three-axis gantry robot, where the task performed can be congured in either mode of operation. The models used in the design work have been obtained using frequency domain tests conducted on the physical plants. The control design has been performed for both systems, and veried using simulation studies in the case of the gantry robot and experimentally obtained test results in the case of the non-minimum phase plant.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Event Dates: July 6 - 11, 2008
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control
Faculty of Physical Sciences and Engineering > Electronics and Computer Science > EEE
ePrint ID: 265324
Date Deposited: 14 Mar 2008 20:11
Last Modified: 27 Mar 2014 20:10
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/265324

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