Experimental evaluation of iterative learning control algorithms for non-minimum phase plants
Experimental evaluation of iterative learning control algorithms for non-minimum phase plants
The purpose of this paper is two-fold, firstly it describes the development and modelling of an experimental test facility as a platform on which to assess the performance of Iterative Learning Control (ILC) schemes. This facility includes a non-minimum phase component. Secondly, P-Type, D-Type and phase-lead types of the algorithm have been implemented on the test-bed, results are presented for each method and their performance is compared. Although all the ILC strategies tested experience eventual divergence when applied to a non-minimum phase system, it is found that there is an optimum phase-lead ILC design that maximizes convergence and minimizes error. A general method of arriving at this phase-lead from knowledge of the plant model is described. A variety of filters have been applied and assessed in order to improve the overall performance of the algorithm.
826-846
Freeman, C.T.
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Lewin, P.L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
July 2005
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P.L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C.T., Lewin, P.L. and Rogers, E.
(2005)
Experimental evaluation of iterative learning control algorithms for non-minimum phase plants.
International Journal of Control, 78 (11), .
(doi:10.1080/00207170500158565).
Abstract
The purpose of this paper is two-fold, firstly it describes the development and modelling of an experimental test facility as a platform on which to assess the performance of Iterative Learning Control (ILC) schemes. This facility includes a non-minimum phase component. Secondly, P-Type, D-Type and phase-lead types of the algorithm have been implemented on the test-bed, results are presented for each method and their performance is compared. Although all the ILC strategies tested experience eventual divergence when applied to a non-minimum phase system, it is found that there is an optimum phase-lead ILC design that maximizes convergence and minimizes error. A general method of arriving at this phase-lead from knowledge of the plant model is described. A variety of filters have been applied and assessed in order to improve the overall performance of the algorithm.
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Published date: July 2005
Organisations:
EEE, Southampton Wireless Group
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Local EPrints ID: 260545
URI: http://eprints.soton.ac.uk/id/eprint/260545
ISSN: 0020-3270
PURE UUID: 4ea29900-fd82-4d0e-94f4-9fa7edc62972
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Date deposited: 17 Feb 2005
Last modified: 11 Dec 2024 02:38
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Author:
C.T. Freeman
Author:
P.L. Lewin
Author:
E. Rogers
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