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Experimental evaluation of iterative learning control algorithms for non-minimum phase plants

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), pp. 826-846. (doi:10.1080/00207170500158565).

Record type: Article


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


Local EPrints ID: 260545
ISSN: 0020-3270
PURE UUID: 4ea29900-fd82-4d0e-94f4-9fa7edc62972

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Date deposited: 17 Feb 2005
Last modified: 18 Jul 2017 09:12

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