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Iterative Learning Control Based on Strong Practical Stability of Repetitive Processes

Iterative Learning Control Based on Strong Practical Stability of Repetitive Processes
Iterative Learning Control Based on Strong Practical Stability of Repetitive Processes
This paper develops significant new results on the design of Iterative Learning Control (ILC) schemes based on treating the problem within the framework of the stability/ control theory for linear repetitive processes. These processes propagate in two independent directions and arise in the modeling of a number of physical processes. The duration of information propagation in one of these two directions is finite, and this is a key link to ILC which has been developed as a technique for controlling systems which are required to repeat the same operation over a finite duration known as the trial length. Each execution of the operation is known as a trial and when it finishes the process resets and the next trial begins. The novel idea in ILC is to use information from previous trials to compute the input to the current one and thereby sequentially improve performance. Previous work has shown that linear model ILC can be described by certain repetitive process models and in this paper the starting point is so-called strong practical stability for these processes. In particular, it is shown how this stability property can be used to design ILC laws in the case when there are performance specifications that require control of the transient dynamics produced along the trials, in addition to trial-to-trial error convergence.
4864-4869
Dabkowski, P
70e4f9ba-9370-45f9-b409-cccc563a2d8c
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Dabkowski, P
70e4f9ba-9370-45f9-b409-cccc563a2d8c
Galkowski, K
65b638be-b5a5-4e25-b1b8-e152c08a1cbb
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Cai, Z
dd8dd525-19a5-4792-a048-617340996afe
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Dabkowski, P, Galkowski, K, Rogers, E, Cai, Z, Freeman, C T and Lewin, P L (2009) Iterative Learning Control Based on Strong Practical Stability of Repetitive Processes. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China. 16 - 18 Dec 2009. pp. 4864-4869 .

Record type: Conference or Workshop Item (Paper)

Abstract

This paper develops significant new results on the design of Iterative Learning Control (ILC) schemes based on treating the problem within the framework of the stability/ control theory for linear repetitive processes. These processes propagate in two independent directions and arise in the modeling of a number of physical processes. The duration of information propagation in one of these two directions is finite, and this is a key link to ILC which has been developed as a technique for controlling systems which are required to repeat the same operation over a finite duration known as the trial length. Each execution of the operation is known as a trial and when it finishes the process resets and the next trial begins. The novel idea in ILC is to use information from previous trials to compute the input to the current one and thereby sequentially improve performance. Previous work has shown that linear model ILC can be described by certain repetitive process models and in this paper the starting point is so-called strong practical stability for these processes. In particular, it is shown how this stability property can be used to design ILC laws in the case when there are performance specifications that require control of the transient dynamics produced along the trials, in addition to trial-to-trial error convergence.

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More information

Published date: 21 December 2009
Additional Information: Event Dates: December 2009
Venue - Dates: Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, 2009-12-16 - 2009-12-18
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267748
URI: https://eprints.soton.ac.uk/id/eprint/267748
PURE UUID: 06a1113c-2c52-43fe-b1c4-8b16b4cda234
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 03 Aug 2009 13:58
Last modified: 20 Jul 2019 01:23

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Contributors

Author: P Dabkowski
Author: K Galkowski
Author: E Rogers ORCID iD
Author: Z Cai
Author: C T Freeman
Author: P L Lewin

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