| 1. |
- Henriksson, Björn, et al.
(författare)
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Control relevant identification of nonlinear systems using linear models
- 2001
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Ingår i: PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE. - 0780364953 ; , s. 1178-1183
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Konferensbidrag (refereegranskat)abstract
- In this contribution we consider control of nonlinear systems by means of linear time-invariant model based control design. It is shown that a desired closed loop response of the nonlinear system for a given reference signal can be achieved using a controller based on a linear model. This is possible if the linear model used in the control design is able to capture the input/output behaviour of the nonlinear system for the desired response. An identification method, designed for this purpose, is presented and illustrated on an numerical example.
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| 2. |
- Markusson, Ola, et al.
(författare)
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Iterative learning control of nonlinear non-minimum phase systems and its application to system and model inversion
- 2001
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Ingår i: PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL. - 0780370619 ; , s. 4481-4482
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Konferensbidrag (refereegranskat)abstract
- In this contribution we present a model based method for reference tracking in the Iterative Learning Control (ILC) framework. The method can be applied to nonlinear, possibly non-minimum phase, systems. The idea is to use the inverse of a linearized model in the ILC update. In the non-minimum phase case, the batch property of ILC is explored by means of non-causal filtering. Apart from reference tracking, this method is useful for system and model inversion - a problem that arises in many disciplines where nonlinear systems and models are involved, e.g. maximum likelihood identification and input design for identification for control. The method is illustrated on a numerical example.
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| 6. |
- Norrlöf, Mikael, 1971-, et al.
(författare)
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A General Framework for Iterative Learning Control
- 2002
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Ingår i: Proceedings of the 15th IFAC World Congress. - Linköping : Linköping University Electronic Press. - 9783902661746 ; , s. 224-224
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Konferensbidrag (refereegranskat)abstract
- In this contribution we place ILC in the realm of numerical optimization. This clarifies the role played by the design variables and how they affect e.g. convergence properties. We give a model based interpretation of these design variables and also a sufficient condition for convergence of ILC which is similar in spirit to the sufficient and necessary condition previously derived for linear systems. This condition shows that the desired performance has to be traded against modelling accuracy. Finally, one of the main benefits of ILC when non-minimum phase systems are concerned, the possibility of non-causal control, is given a comprehensive coverage.
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