Title :
Comparative study on first and second order ILC-frequency domain analysis and experiments
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
Abstract :
Aspects of the behavior of a general second order iterative learning control (ILC) algorithm are presented from a frequency domain perspective. This includes stability as well as performance and robustness issues. The basis for the analysis is linear iterative systems and these are briefly described. A design algorithm for second order ILC schemes is proposed and analyzed both theoretically as well as in an experiment. In the experiment, done on a commercial industrial robot control system, the second order ILC design is compared with a first order ILC design. The results from both the analysis and the experiment show that the second order design is not better with respect to performance or robustness
Keywords :
control system analysis; convergence; discrete time systems; frequency-domain analysis; industrial manipulators; learning systems; linear systems; position control; robust control; commercial industrial robot control system; design algorithm; frequency domain perspective; iterative learning control; linear iterative system; robustness; Algorithm design and analysis; Electrical equipment industry; Feedback control; Filters; Frequency domain analysis; Industrial control; Iterative algorithms; Performance analysis; Robot control; Robust stability;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912231
