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Iterative Learning Control Via Weighted Local‐Symmetrical‐Integration
Author(s) -
Chen Yangquan,
Dou Huifang,
Tan Kok Kiong
Publication year - 2001
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 - 10.1111/j.1934-6093.2001.tb00075.x
Subject(s) - iterative learning control , control theory (sociology) , feed forward , convergence (economics) , controller (irrigation) , scheme (mathematics) , interval (graph theory) , range (aeronautics) , computer science , tracking (education) , iterative method , control (management) , mathematics , control engineering , engineering , algorithm , artificial intelligence , psychology , mathematical analysis , agronomy , pedagogy , combinatorics , aerospace engineering , economics , biology , economic growth
A new iterative learning control (ILC) updating law is proposed for tracking control of continuous linear system over a finite time interval. The ILC is applied as a feedforward controller to the existing feedback controller. By using the weighted local symmetrical integral (WLSI) of feedback control signal of previous iteration, the ILC updating law takes a simple form with only two design parameters: the learning gain and the range of local integration. Convergence analysis is presented together with a design procedure. A set of experimental results are presented to illustrate the effectiveness of the proposed WLSI‐ILC scheme.