Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification
نویسندگان
چکیده
A duality theory existing between iterative learning and repetitive control for linear time-invariant systems has been reported. This paper considers the application of this duality in the design of such controllers for a non-minimum phase experimental facility and a three-axis gantry robot, where the task performed can be configured in either mode of operation. The models used in the design work have been obtained using frequency domain tests conducted on the physical plants. The control design has been performed for both systems, and verified using simulation studies in the case of the gantry robot and experimentally obtained test results in the case of the non-minimum phase plant.
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