Development of a multivariable test facility for the evaluation of iterative learning controllers

This paper describes the development of a multivariable input, multi-variable output (MIMO) experimental test facility, which will be used to evaluate, benchmark and compare iterative learning control (ILC) strategies. The system addresses the distinct lack of experimental studies for the multivariable case and enables controller performance and robustness to be analyzed over a broad range of operating conditions. The electromechanical facility is multi-configurable with upto 3 inputs and permits both exogenous disturbance injection and a variable level of coupling to exist between input and output pairs. Preliminary experimental results confirm its suitability as a benchmarking platform for evaluation and comparison of ILC.