A Study on Robustness of Iterative Learning Controller with Input Saturation Against Time-Delay
نویسنده
چکیده
In this paper, it is first pointed out that, when a typical iterative learning control(ILC) algorithm is applied to a class of dynamic systems with time-delay, erratic estimation of delay time may cause the control input to diverge. In order to resolve such a limitation of the conventional ILC algorithms due to uncertainty of the delay time, a new ILC algorithm with input saturation is proposed to prevent the divergence of the control input. Then, robustness of the proposed algorithm is studied against uncertainty of delay time. To show the effectiveness of the proposed algorithm, two numerical examples are given.
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