The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

A Study on the Convergence Condition of ILC for Linear Discrete Time Nonminimum Phase Systems

이산 선형 비최소위상 시스템을 위한 반복 학습 제어의 수렴조건에 대한 연구

  • Published : 2008.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper investigates the convergence condition of ADILC(iterative learning control with advanced output data) for nonminimum phase systems. ADILC has simple learning structure including both minimum phase and nonminimum phase systems. However, for nonminimum phase systems, the overall time horizon must be considered in input update law. This makes the dimension of convergence condition matrix large. In this paper, a new sufficient condition is proposed to satisfy the convergence condition. Also, it has been shown that this sufficient condition can be satisfied although it is not full impulse response.

Keywords

References

  1. S. Arimoto, S. Kawamura, and F. Miyazaki, Bettering operations of robots by learning," Journal of Robotic Systems vol. 1, No. 2, pp. 123-140, 1984 https://doi.org/10.1002/rob.4620010203
  2. Z. Bien and J.-X. Xu, "Iterative learning control analysis, design, integration and applications," Kluwer Academic Publishers, 1998
  3. 허경무, "궤환을 갖는 2차 반복학습제어 알고리즘에 관한 연구," 대한 전기학회 논문지, 제48권, 제5호, pp.629-635, 1999
  4. J. Ghosh and B. Paden, "A peudoinverse-based iterative learning control," IEEE Trans. Automat. Contr., vol. 47, no. 5, pp. 831-837, June, 2002 https://doi.org/10.1109/TAC.2002.1000282
  5. K. Kinosita, T. Sogo, and N. Adachi, "Iterative learning control using adjoint systems and stable inversion,", Asian Journal of Control, vol.4, no.1, pp.60-67, Mar. 2002 https://doi.org/10.1111/j.1934-6093.2002.tb00333.x
  6. G.-M. Jeong, C.-H. Choi, "Iterative learning control for linear discrete time nonminimum phase systems," Automatica, vol. 38, no. 2, pp. 287-291, Feb, 2002 https://doi.org/10.1016/S0005-1098(01)00197-2
  7. G.-M. Jeong, C.-H. Choi, "Iterative learning control with advanced output data for nonlinear nonminimum phase systems," International Journal of Systems Science, vol. 37, no. 14, pp.1051-1058, Nov., 2006 https://doi.org/10.1080/00207720601014222