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Gramian-based data-driven ILC for continuous-time systems

Gramian-based data-driven ILC for continuous-time systems
Gramian-based data-driven ILC for continuous-time systems

We present a data-driven Iterative Learning Control (ILC) scheme for continuous-time systems using a 'Gramian' approach. We present some numerical experiments using Chebyshev Polynomial Orthogonal Bases (CPOB) in both model-driven and data-driven ILC for continuous-time systems. We show that in the model-driven ILC case, the utilisation of a CPOB framework results in improved performance over discrete-time methods for applications requiring high precision. In the data-driven case, the advantages of a CPOB approach are less evident and we discuss some of the open problems being investigated.

Data-driven control, Iterative learning control
2405-8971
127-132
Wolski, Aleksander
74dcb812-aa07-4015-ac80-65fd9293e282
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Rapisarda, Paolo
79efc3b0-a7c6-4ca7-a7f8-de5770a4281b
Wolski, Aleksander
74dcb812-aa07-4015-ac80-65fd9293e282
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Rapisarda, Paolo
79efc3b0-a7c6-4ca7-a7f8-de5770a4281b

Wolski, Aleksander, Chu, Bing and Rapisarda, Paolo (2025) Gramian-based data-driven ILC for continuous-time systems. IFAC-PapersOnLine, 59 (12), 127-132. (doi:10.1016/j.ifacol.2025.09.579).

Record type: Article

Abstract

We present a data-driven Iterative Learning Control (ILC) scheme for continuous-time systems using a 'Gramian' approach. We present some numerical experiments using Chebyshev Polynomial Orthogonal Bases (CPOB) in both model-driven and data-driven ILC for continuous-time systems. We show that in the model-driven ILC case, the utilisation of a CPOB framework results in improved performance over discrete-time methods for applications requiring high precision. In the data-driven case, the advantages of a CPOB approach are less evident and we discuss some of the open problems being investigated.

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e-pub ahead of print date: 9 October 2025
Published date: 9 October 2025
Keywords: Data-driven control, Iterative learning control
Learn more about Vision, Learning and Control research Learn more about School of Electronics and Computer Science research Learn more about Electrical Power Engineering research

Identifiers

Local EPrints ID: 507378
URI: http://eprints.soton.ac.uk/id/eprint/507378
DOI: doi:10.1016/j.ifacol.2025.09.579
ISSN: 2405-8971
PURE UUID: 11062ad9-08c1-42a8-ac5d-8c70b9352794
ORCID for Aleksander Wolski: ORCID iD orcid.org/0009-0000-7026-9775
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 08 Dec 2025 17:35
Last modified: 09 Dec 2025 03:09

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Contributors

Author: Aleksander Wolski ORCID iD
Author: Bing Chu ORCID iD
Author: Paolo Rapisarda

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