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Robustness and load disturbance conditions for state based iterative learning control

Robustness and load disturbance conditions for state based iterative learning control
Robustness and load disturbance conditions for state based iterative learning control

Robust conditions and load disturbance limitations are developed for the design of iterative learning control laws for linear dynamics for two commonly used schemes. Many industrial applications encounter periodic disturbances acting on the input of a system operating under repetitive control, which can be represented by a time delay model whose output is applied to the system input in the mathematical representation of the controlled dynamics. The design isolates the disturbance system and defines the overall transfer function around the delay model. Then, the small gain theorem can be used to develop conditions for disturbance accommodation and error convergence of the repetitive control scheme. A simulation case study to support the new results is given, where the model used has been developed by frequency response tests on a gantry robot and is a necessary step before experimental verification.

iterative learning control, robust conditions, state feedback
0143-2087
1965-1975
Alsubaie, Muhammad A.
d27f129d-e780-4d0c-bed1-b412e50acf9a
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Alsubaie, Muhammad A.
d27f129d-e780-4d0c-bed1-b412e50acf9a
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Alsubaie, Muhammad A. and Rogers, Eric (2018) Robustness and load disturbance conditions for state based iterative learning control. Optimal Control Applications and Methods, 39 (6), 1965-1975. (doi:10.1002/oca.2460).

Record type: Article

Abstract

Robust conditions and load disturbance limitations are developed for the design of iterative learning control laws for linear dynamics for two commonly used schemes. Many industrial applications encounter periodic disturbances acting on the input of a system operating under repetitive control, which can be represented by a time delay model whose output is applied to the system input in the mathematical representation of the controlled dynamics. The design isolates the disturbance system and defines the overall transfer function around the delay model. Then, the small gain theorem can be used to develop conditions for disturbance accommodation and error convergence of the repetitive control scheme. A simulation case study to support the new results is given, where the model used has been developed by frequency response tests on a gantry robot and is a necessary step before experimental verification.

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More information

Accepted/In Press date: 18 July 2018
e-pub ahead of print date: 21 August 2018
Published date: November 2018
Keywords: iterative learning control, robust conditions, state feedback

Identifiers

Local EPrints ID: 426594
URI: https://eprints.soton.ac.uk/id/eprint/426594
ISSN: 0143-2087
PURE UUID: ff5d4577-74be-4b78-a318-8acd6385604c

Catalogue record

Date deposited: 30 Nov 2018 17:30
Last modified: 30 Nov 2018 17:30

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