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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 At The 17th IFAC World Congress. 06 - 11 Jul 2008. , pp. 3562-3567.

Record type: Conference or Workshop Item (Paper)


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 configured 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 verified using simulation studies in the case of the gantry robot and experimentally obtained test results in the case of the non-minimum phase plant.

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Published date: 6 July 2008
Additional Information: Event Dates: July 6 - 11, 2008
Venue - Dates: The 17th IFAC World Congress, 2008-07-06 - 2008-07-11
Organisations: EEE, Southampton Wireless Group


Local EPrints ID: 265324
PURE UUID: ddb4cc42-30fa-4b84-889b-7204b597a0ae

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Date deposited: 14 Mar 2008 20:11
Last modified: 18 Jul 2017 07:26

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Author: Muhammad Ali Alsubaie
Author: Zhonglun Cai
Author: Paul L. Lewin
Author: Eric Rogers

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