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Extended Direct Learning Control for Single-input Single-output Nonlinear Systems  

Park, Joong-Min (School of Electrical Engineering, Kookmin University)
Ahn, Hyun-Sik (School of Electrical Engineering, Kookmin University)
Kim, Do-Hyun (School of Electrical Engineering, Kookmin University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.39, no.5, 2002 , pp. 1-7 More about this Journal
Abstract
In this paper, an extended type of a direct learning control(DLC) method is proposed for the effective control of systems which perform a given task repetitively. DLC methods have been suggested to overcome the defects of iterative learning control, the learning process should be resumed from the beginning even if a slight change occurs in the desired output pattern. If a given desired output trajectory is "proportional" to the output trajectories which are learned previously, we can obtain the desired control input directly without the iterative learning process by using the DLC. First, most existing DLC methods are shown to be applicable only to single-input single-output systems with the relative degree one and then, an extended type of DLC is proposed for a class of nonlinear systems having the relative degree more than or equal to one by using the known relative degree of a nonlinear system. By the simulation results for the arbitrary nonlinear system with the relative degree more than one, the validity and the performance of the proposed DLC method are examined.
Keywords
Direct learning control; Iterative learning control; Relative Degree; Nonlinear Systems;
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Times Cited By KSCI : 1  (Citation Analysis)
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