대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1989년도 하계종합학술대회 논문집
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- Pages.101-105
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- 1989
근사 역모델에 의한 이산시간 학습제어기의 수렴성 개선에 관한 연구
A Study on the Improvement of Convergence for a Discrete-time Learning Controller by Approximated Inverse Model
- Moon, Myung-Soo (Department of Electrical Engneering, Hanyang University) ;
- Yang, Hai-Won (Department of Electrical Engneering, Hanyang University)
- 발행 : 1989.07.21
초록
The iterative learning controller makes the system output follow the desired output over a finite time interval through iterating trials. In this paper, first we discuss that the design problem of learning controller is originally the design problem of the inverse model. Then we show that the tracking error which is the difference between the desired output and the system output is reduced monotonically by properly modeled inverse system if the magnitude of the learning operator being introduced is bounded within the unit circle in complex domain. Also it would be shown that the conventional learning control method is a kind of extremely simplified inverse model learning control method of the objective controlled system. Hence this control method can be considered as a generalization of the conventional learning control method. The more a designer model the objective controlled system precisely, the better the performance of the approximated inverse model learning controller would be. Finally we compare the performance of the conventional learning control method with that of the approximated inverse model learning control method by computer simulation.
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