Iterative learning control with saturation constraints
ACC'09 Proceedings of the 2009 conference on American Control Conference
Automatica (Journal of IFAC)
Iterative learning control design based on composite energy function with input saturation
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
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We present a simple modification of the iterative learning control algorithm of Arimoto et al. (1984) for the case where the inputs are bounded and time-rate-limited. The Jacobian error condition for monotonicity of input-error, rather than output-error, norms, is specified, the latter being insufficient to assure convergence, as proved herein. To the best of our knowledge, these facts have not been previously pointed out in the iterative learning control literature. We present a new proof that the modified controller produces monotonically decreasing input error norms, with a norm that covers the entire time interval of a learning trial