Title :
A frequency analysis of time delayed iterative learning control system
Author :
Zhai Lun ; Tian Guohui ; Zhou Fengyu ; Li Yan
Author_Institution :
Service Robots Lab., Shandong Univ., Jinan, China
Abstract :
In this paper, two different iterative learning control schemes are applied to the time delayed systems. The analysis of the convergence performance including the convergence condition and the convergence speed is discussed. The convergence conditions of the ILC scheme are derived in the frequency domain and the design and optimization of learning gains can profit from various subspace and coefficient identification methods, which guarantee the convergence of the control strategy monotonically, and can be adjusted to improve the convergence speed to a large extent. A number of simulation results are provided to validate the conclusions.
Keywords :
convergence; delays; frequency-domain analysis; iterative methods; learning systems; optimisation; ILC scheme; coefficient identification methods; convergence condition; convergence performance; convergence speed; frequency analysis; learning gain optimization; monotonical control strategy convergence; time delayed iterative learning control system; Control systems; Convergence; Delay effects; Feedforward neural networks; Frequency-domain analysis; Robustness; Simulation; Convergence Condition; Convergence Speed; Feedback; Feedforward; Iterative Learning Control;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
