Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Iterative learning control of nonlinear systems with consideration on input magnitude

입력의 크기를 고려한 비선형 시스템의 반복학습 제어

  • Choi, Chong-Ho (ERC-ACI, ASRI, Dept.of Electirc Engineering, Seoul National University) ;
  • Jang, Tae-Jeong (Dept. of Control and Instrumentation Engineering, Kangwon National University)
  • 최종호 (서울대학교 전기공학부, ERC-ACI, ASRI) ;
  • 정태정 (강원대학교 제어계측공학과)
  • Published : 1996.09.01
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Abstract

It is not desirable to have too large control input in control systems, because there are usually a limitation for the input magnitude and cost for the input energy. Previous papers in the iterative learning control did not considered on these points. In this paper, an iterative learning control method is proposed for a class of nonlinear systems with consideration on input magnitude by adopting a concept of cost function consisting of the output error and the input magnitude in quadratic form. We proposed a new input update law with an input penalty function. If we choose a reasonable input penalty function, the two control objectives, good command following and small input energy, can be achieved. The characteristics of the proposed method are shown in the simulation examples.

Keywords

References

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