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Addressing Problems of Instability of the Inverse Model in Iterative Learning Control

Addressing Problems of Instability of the Inverse Model in Iterative Learning Control


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About the Book

Iterative learning control (ILC) aims to create control systems that learn through repetitions of a task to perform tracking maneuvers with zero error. It considers situations in which a control system performs the same trajectory repeatedly. ILC learns from previous runs using stored error data and hence must be digital. One of the important issues to check in digital control systems is the behavior of the output between sample times. This issue has been studied with the conclusion that the majority of physical applications of ILC will have very serious error between sample times, if the learning process actually succeeds in converging to zero sampled error. The cause of the increased error between sample times is the asymptotic locations of the zeros introduced into the system transfer function by the discretization process. Methods are given to solve the problem, stopping the error between sample times from diverging. Although ILC can use more accurate interpolation between sample times in place of the usual zero order hold, using interpolating hold without pseudo inverse solution will make the intersample error worse instead of better. Using an interpolating hold with pseudo inverse solution does improve intersample errors because the system has one more degree of freedom to control. The most effective approach asks for zero tracking error every other time step, and uses the resulting freedom to eliminate the intersample error instability. One can instead leave only a small number of time steps at the beginning free for this purpose. But under certain conditions there can still be difficulties. Methods are suggested to address this new situation and make the problem well posed. On the other hand, we examine the behavior of ILC laws without addressing the instability issue, and find that sometimes instability may not be observed in applications. ILC laws are generalized to use the above approaches to eliminate the instability when it does appear.


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Product Details
  • ISBN-13: 9781243844453
  • Publisher: Proquest, Umi Dissertation Publishing
  • Publisher Imprint: Proquest, Umi Dissertation Publishing
  • Height: 246 mm
  • Weight: 286 gr
  • ISBN-10: 1243844450
  • Publisher Date: 01 Sep 2011
  • Binding: Paperback
  • Spine Width: 8 mm
  • Width: 189 mm


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