The University of Southampton
University of Southampton Institutional Repository

A Common Setting for the Design of Iterative Learning and Repetitive Controllers with Experimental Verification

A Common Setting for the Design of Iterative Learning and Repetitive Controllers with Experimental Verification
A Common Setting for the Design of Iterative Learning and Repetitive Controllers with Experimental Verification
Previous work has shown that the structure of Repetitive Control (RC) and that of Iterative Learning Control (ILC) differ only in the location of an internal model of the disturbance. In this paper it is shown how this common setting permits derivation of controllers in one domain based on an existing controller in the other. This is illustrated using the following case studies: 1) an RC scheme is derived based on an existing ILC scheme which has the structure of a servo compensator (this is first extended to comprise both current-error feedback and previous-error feedforward implementations), and 2) an ILC scheme is developed based on an existing RC scheme which also has a servo compensator structure, but differs from (1) by containing only a single internal model representation. In this case the presence of a single internal model restricts the derived ILC structure to assume the form of a disturbance observer. All controllers are shown to have similar equivalent representations, with parameters derived by using linear quadratic regular analysis. This correspondence in structure enables comparison of the effect of the structure (ILC or RC, servo compensator or disturbance observer), number of internal models, and use of error (feedback or feedforward) on subsequent performance. This is undertaken using experimental results obtained using a gantry robot.
0890-6327
230-249
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Alsubaie, Muhammad
9b05bc31-3ed9-4404-890d-534cad10921e
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Alsubaie, Muhammad
9b05bc31-3ed9-4404-890d-534cad10921e
Cai, Zhonglun
dd8dd525-19a5-4792-a048-617340996afe
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Freeman, Christopher, Alsubaie, Muhammad, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2013) A Common Setting for the Design of Iterative Learning and Repetitive Controllers with Experimental Verification. International Journal of Adaptive Control and Signal Processing, 27 (3), 230-249. (doi:10.1002/acs.2299).

Record type: Article

Abstract

Previous work has shown that the structure of Repetitive Control (RC) and that of Iterative Learning Control (ILC) differ only in the location of an internal model of the disturbance. In this paper it is shown how this common setting permits derivation of controllers in one domain based on an existing controller in the other. This is illustrated using the following case studies: 1) an RC scheme is derived based on an existing ILC scheme which has the structure of a servo compensator (this is first extended to comprise both current-error feedback and previous-error feedforward implementations), and 2) an ILC scheme is developed based on an existing RC scheme which also has a servo compensator structure, but differs from (1) by containing only a single internal model representation. In this case the presence of a single internal model restricts the derived ILC structure to assume the form of a disturbance observer. All controllers are shown to have similar equivalent representations, with parameters derived by using linear quadratic regular analysis. This correspondence in structure enables comparison of the effect of the structure (ILC or RC, servo compensator or disturbance observer), number of internal models, and use of error (feedback or feedforward) on subsequent performance. This is undertaken using experimental results obtained using a gantry robot.

Text
Freeman_JACSP_2012.pdf - Version of Record
Download (1MB)

More information

Published date: 2013
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 272583
URI: http://eprints.soton.ac.uk/id/eprint/272583
ISSN: 0890-6327
PURE UUID: 1eb40d8e-3115-4a30-9c06-0009d46ae075
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 19 Jul 2011 22:27
Last modified: 26 Nov 2019 02:05

Export record

Altmetrics

Contributors

Author: Christopher Freeman
Author: Muhammad Alsubaie
Author: Zhonglun Cai
Author: Eric Rogers ORCID iD
Author: Paul Lewin

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×