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Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification

Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification
Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification
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.
3562-3567
Alsubaie, Muhammad Ali
7755a436-9365-4fed-aa83-eaafd3a2c2c3
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Alsubaie, Muhammad Ali
7755a436-9365-4fed-aa83-eaafd3a2c2c3
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

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

Record type: Conference or Workshop Item (Paper)

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 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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More information

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

Identifiers

Local EPrints ID: 265324
URI: https://eprints.soton.ac.uk/id/eprint/265324
PURE UUID: ddb4cc42-30fa-4b84-889b-7204b597a0ae
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 14 Mar 2008 20:11
Last modified: 20 Jul 2019 01:23

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