Second Order Iterative Learning Control for Scale Varying Setpoints
نویسندگان
چکیده
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 setpoints under the influence of disturbances that are either i) constant or ii) experience the same scaling as the setpoint.
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