Initial Input Selection for Iterative Learning Control

Download

PDF - Published Version Restricted to Registered users only Download (623Kb) | Request a copy

Description/Abstract

Iterative Learning Control algorithms have been shown to offer a high level of performance both theoretically and in practical applications. However the convergence of the error is generally highly dependent on the initial choice of input applied to the plant. Here techniques are applied which generate an optimal initial input selection, and the effect this has on the error over subsequent trials is examined. The approach is then applied experimentally on a gantry robot test facility.