Title: Parametric Iterative Learning Control in the time and frequency domain

Authors: Hellmar Rockel, Ulrich Konigorski

Addresses: Department of Electric Information Technology, Clausthal University of Technology, Leibnizstrasse 28, 38678 Clausthal-Zellerfeld, Germany. ' Department of Electric Information Technology, Clausthal University of Technology, Leibnizstrasse 28, 38678 Clausthal-Zellerfeld, Germany

Abstract: For the control of cyclic processes Iterative Learning Control (ILC) has been proven to be an efficient concept. In this contribution a parametric framework is proposed that uses an analogy to a discrete time control loop and intentionally avoids highly theoretical concepts such as two dimensional systems theory. The generality with respect to the structure of the learning law, to different parametrisations and to different classes of systems is demonstrated. A brief analysis is followed by the detailed discussion of learning laws in the time and frequency domain. The latter is illustrated both in a simulation study and in an experiment on a hydraulic test bench for materials testing.

Keywords: trajectory learning; iterative learning control; ILC; automatic learning; real time; time domain; frequency domain.

DOI: 10.1504/IJISTA.2007.012481

International Journal of Intelligent Systems Technologies and Applications, 2007 Vol.2 No.2/3, pp.174 - 186

Available online: 19 Feb 2007 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article