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Some Controllability Aspects for Iterative Learning Control
Author(s) -
Leissner Patrik,
Gunnarsson Svante,
Norrlöf Mikael
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1790
Subject(s) - controllability , iterative learning control , control theory (sociology) , property (philosophy) , path (computing) , domain (mathematical analysis) , controllability gramian , computer science , control (management) , network controllability , state space , mathematical optimization , mathematics , control engineering , topology (electrical circuits) , artificial intelligence , engineering , mathematical analysis , philosophy , statistics , epistemology , combinatorics , betweenness centrality , centrality , programming language
Some controllability aspects for iterative learning control ( ILC ) are discussed. Via a batch (lifted) description of the problem a state space model of the system to be controlled is formulated in the iteration domain. This model provides insight and enables analysis of the conditions for and relationships between controllability, output controllability and target path controllability. In addition, the property miminum lead target path controllability is introduced. This property, which is connected to the number of time delays, plays an important role in the design of ILC algorithms. The properties are illustrated by a numerical example.