Brief On the design of ILC algorithms using optimization

Authors:
Svante Gunnarsson;Mikael NorrlöF
Affiliations:
Department of Electrical Engineering, Linköping University, SE-58183 Linköping, Sweden;Department of Electrical Engineering, Linköping University, SE-58183 Linköping, Sweden
Venue:
Automatica (Journal of IFAC)
Year:
2001

Citing 2
Cited 15

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Abstract

Iterative learning control (ILC) based on minimization of a quadratic criterion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial industrial robot are also presented.