Title: New autonomous scheme of iterative learning control for online implementation

Authors: Leila Noueili; Wassila Chagra; Moufida Ksouri Lahmari

Addresses: Laboratoire Analyse, Conception et Commande des Systèmes LR11ES20, École Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunisia ' Laboratoire Analyse, Conception et Commande des Systèmes LR11ES20, École Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunisia; Institut Préparatoire aux Etudes d'Ingénieurs d'El Manar, Université de Tunis El Manar, Tunisia ' Laboratoire Analyse, Conception et Commande des Systèmes LR11ES20, École Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunisia

Abstract: The purpose of this paper is to achieve the implementation of a new autonomous control scheme combining two phases: online error learning and control procedure implementation on the Arduino-Uno microcontroller. This paper presents the realisation of a real time implementation of three control algorithms applied to a resistor-capacitor (RC) circuit. Two iterative learning control schemes, proportional iterative learning control (ILC-1) and optimal iterative learning control (ILC-2) are studied and implemented and their performance results are also compared to proportional-integrator (PI) controller. The experimental results show the feasibility and the efficiency of the online autonomous control scheme.

Keywords: anticipatory ILC; optimal ILC; Arduino-Uno microcontroller; real time control.

DOI: 10.1504/IJMIC.2018.095829

International Journal of Modelling, Identification and Control, 2018 Vol.30 No.4, pp.273 - 283

Available online: 17 Oct 2018 *

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