Second-Order Iterative Learning Control for Scaled Setpoints

Second Order Iterative Learning Control for Scale Varying Setpoints

Iterative learning control (ILC) [1] can achieve a high performance for repetitive setpoints. However, for different setpoints ILC should start over. In this work point-to-point movements rk(t) with different magnitudes are considered which are constructed by scaling a nominal setpoint r(t), i.e., rk(t) = Tkr(t). A second order ILC (SOILC) [2] method is developed to accurately track these setpo...

Cogging Compensating Piecewise Iterative Learning Control for variable setpoints with application to a wafer stage

Iterative Learning Control (ILC) is an effective control technique for motion systems that perform repetitively the same trajectory (setpoint), e.g. a wafer stage. The result of the learning procedure is a feedforward signal that perfectly compensates all deterministic dynamics in the system for the learned setpoint performed at a specific start position. For other setpoints and start positions...

Fractional-Order Iterative Learning Control for Fractional-Order Linear Systems

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order systems. Fractional order iterative learning updating schemes are considered. The convergent conditions of the fractional-order and integer-order iterative learning schemes are proved to be equivalent. It is shown in Matlab/Simulink results that the tracking speed is the fastest when the syste...

On second-order iterative monads

B. Courcelle studied algebraic trees as precisely the solutions of all recursive program schemes for a given signature in Set. He proved that the corresponding monad is iterative. We generalize this to recursive program schemes over a given finitary endofunctor H of a ”suitable” category. A monad is called second-order iterative if every guarded recursive program scheme (w.r.t. H) has a unique ...

Seventh-order iterative algorithm free from second derivative for solving algebraic nonlinear equations