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On the Design of IL...
On the Design of ILC Algorithms using Optimization
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- Gunnarsson, Svante (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael, 1971- (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2000
- Engelska 17 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2209
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Abstract
Ämnesord
Stäng
- Design of Iterative Learning Control (ILC) algorithms using optimization is considered. By forming a quadratic criterion in the control error and the input signal using a nominal model of the system an ILC algorithm is derived. Special attention is paid to the frequency domain properties of the algorithm and to how it is able to handle non-minimum phase systems. A numerical example and an experiment carried out on an real industrial robot are presented.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Iterative Learning Control
- Optimization
- Robotics
- Automatic control
- Reglerteknik
Publikations- och innehållstyp
- vet (ämneskategori)
- rap (ämneskategori)