A Generalized Frequency Domain Learning Control Design with Experimental Validation

This paper presents a generalized iterative learningcontrol (ILC) design in the frequency domain with experimentalvalidation. The optimal ILC learning function androbustness filter function are simultaneously optimized by solvinga linear programming problem using frequency responsefunctions. Moreover, the design realizes an optimal trade-offbetween robust convergence, converged tracking performance,convergence speed, and input constraints. The proposed ILCmethod is experimentally validated on a lab scale overheadcrane system. The results demonstrate the advantages of theapproach as an automation design with optimal solutions,efficient computation, robustness and intuitive tuning for tradeoffanalyses between multiple ILC specifications.

Jaar van publicatie:2017