Frequency Domain Based Design of Iterative Learning Controllers for Monotonic Convergence
نویسندگان
چکیده
This paper presents a frequency domain based method to design iterative learning controllers (ILC) for monotonic convergence. This is an extension of a repetitive controller (RC) design that aims to achieve monotonic convergence of all frequency components of the tracking error from period to period. The monotonic convergence condition in the RC design requires a steady-state assumption that the ILC problem does not satisfy due to the transient at the beginning of every repetition. Additional fine-tuning of the ILC gains to ensure monotonic convergence is needed and two such techniques (iterative and noniterative) are developed. Numerical examples are presented to illustrate the design method.
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