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PID Type Iterative Learning Control with Optimal Gains  

Madady, Ali (Department of Electrical Engineering, Tafresh University)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.2, 2008 , pp. 194-203 More about this Journal
Abstract
Iterative learning control (ILC) is a simple and effective method for the control of systems that perform the same task repetitively. ILC algorithm uses the repetitiveness of the task to track the desired trajectory. In this paper, we propose a PID (proportional plus integral and derivative) type ILC update law for control discrete-time single input single-output (SISO) linear time-invariant (LTI) systems, performing repetitive tasks. In this approach, the input of controlled system in current cycle is modified by applying the PID strategy on the error achieved between the system output and the desired trajectory in a last previous iteration. The convergence of the presented scheme is analyzed and its convergence condition is obtained in terms of the PID coefficients. An optimal design method is proposed to determine the PID coefficients. It is also shown that under some given conditions, this optimal iterative learning controller can guarantee the monotonic convergence. An illustrative example is given to demonstrate the effectiveness of the proposed technique.
Keywords
Iterative learning control; monotonic convergence; optimal design; PID type ILC;
Citations & Related Records

Times Cited By Web Of Science : 3  (Related Records In Web of Science)
Times Cited By SCOPUS : 7
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