A High-order Internal Model Based Iterative Learning Control Scheme for Discrete Linear Time-varying Systems

In this paper, an iterative learning control algorithm is proposed for discrete linear time-varying systems to track iterationvarying desired trajectories. A high-order internal model(HOIM) is utilized to describe the variation of desired trajectories in the iteration domain. In the sequel, the HOIM...

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Bibliographic Details
Published in:International journal of automation and computing 2015-06, Vol.12 (3), p.330-336
Main Authors: Zhou, Wei, Yu, Miao, Huang, De-Qing
Format: Article
Language:English
Subjects:
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
desired
discrete
Engineering
high-order
internal
iteration-varying
Iterative
learning
linear
Mechatronics
Regular Paper
Robotics
systems
time-varying
tra-jectory
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Summary:In this paper, an iterative learning control algorithm is proposed for discrete linear time-varying systems to track iterationvarying desired trajectories. A high-order internal model(HOIM) is utilized to describe the variation of desired trajectories in the iteration domain. In the sequel, the HOIM is incorporated into the design of learning gains. The learning convergence in the iteration axis can be guaranteed with rigorous proof. The simulation results with permanent magnet linear motors(PMLM) demonstrate that the proposed HOIM based approach yields good performance and achieves perfect tracking.
ISSN:1476-8186
1751-8520
DOI:10.1007/s11633-015-0886-x