Comparative study on first and second order ILC-frequency domain analysis and experiments

Author

Norrlöf, M.

Author_Institution

Dept. of Electr. Eng., Linkoping Univ., Sweden

Volume

4

fYear

2000

fDate

2000

Firstpage

3415

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912231

Filename

912231