Design issues on robustness and convergence of iterative learning controller

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In this paper, the following two important issues of iterative learning control are considered : i) the robustness to the initial error and ii) the convergence in the sense of sup-norm. The main theme of this paper is how to design an iterative learning controller in order to make the learning algorithm to be more robust to the initial error and/or guarantee the exponential convergence in the sense of the sup-norm. To this end, we restrict our attention to the PD-type learning law and study its proper-ties about the two issues. The results show that the pure error term in PD-type learning law is closely related to the two issues. Based on the investigated properties of the PD-type learning law, a design guide-line is given for the selection of the learning gains.
Publisher
AUTOSOFT PRESS
Issue Date
2002
Language
English
Article Type
Article
Keywords

CONTROL ALGORITHM

Citation

INTELLIGENT AUTOMATION AND SOFT COMPUTING, v.8, no.2, pp.95 - 106

ISSN
1079-8587
URI
http://hdl.handle.net/10203/86048
Appears in Collection
EE-Journal Papers(저널논문)
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