Open AccessIterative Learning Control for a Repetitive 2D Process
Author(s) -
S. Muthumari,
G. Venugopal,
R. Srimathi,
Kishore Eswaran,
V. Kamatchi Kannan
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/995/1/012003
Subject(s) - iterative learning control , pid controller , control theory (sociology) , approximation error , computer science , process (computing) , task (project management) , controller (irrigation) , control (management) , control engineering , algorithm , engineering , artificial intelligence , temperature control , agronomy , systems engineering , biology , operating system
To control the systems which operate in a repetitive mode is known to be a difficult task. For example, systems like robotic manipulators are used for doing the repetitive assigned task. This can be overcome by the iterative learning control (ILC) method. In this article, the DC motor model is discussed for controlling the speed of the motor by the design of an ILC algorithm, and its performance is compared with the conventional PID algorithm. The ILC algorithm is implemented for the minimum and non-minimum phase systems. The resulting response, absolute and integral absolute errors are plotted. The Z-N tuning method is used to implement PID control. The performance of the DC motor has been evaluated by comparing the Integral Square Error (ISE), Integral Absolute Error (IAE), and Integral Time Absolute Error (ITAE) with the conventional PID controller.