On error convergence in adaptive iterative learning control
The authors consider the linear process model NEWLINE\[NEWLINE\left\{\begin{aligned}\dot x(t)&= Ax(t) + Bu(t)\\ y(t)& = Cx(t) \end{aligned}\right.NEWLINE\]NEWLINE where \(x(t)\in\mathbb R^n\) is the state vector, with \(x(0) = x_0\), \(y(t)\in\mathbb R^m\) is the output vector, and \(u(t)\in\mathbb R^l\) is the control input vector. Stability theorems for an adaptive iterative learning control scheme are motivated and described in compact terms that relates properties of such schemes to systems structure and other important aspects of the dynamics of the process to be controlled. The use of high gain feedback in this setting is reviewed and a full proof of convergence of a universal adaptive scheme based on the use of adaptive gains in the control scheme is given. From this, it is concluded that successful iterative learning control can be achieved in the presence of substantial uncertainty in the detailed knowledge of the process parameters and order. A very important conclusion from this work is that the form and success of the controller is critically related to the process's relative degree and also its minimum-phase characteristics.NEWLINENEWLINEFor the entire collection see [Zbl 0952.00062].
- Error convergence in an adaptive iterative learning controller
- Universal iterative learning control using adaptive high‐gain feedback
- Convergence and robustness of discrete time nonlinear systems with iterative learning control
- A guaranteed monotonically convergent iterative learning control
- An output-based adaptive iterative learning controller for high relative degree uncertain linear systems.
- An output-based adaptive iterative learning controller for high relative degree uncertain linear systems.
- Global convergence of Landaús "Output error with adjustable compensator" adaptive algorithm
- Universal iterative learning control using adaptive high‐gain feedback
- Error convergence in an adaptive iterative learning controller
- Rohrs' example revisited: on the robustness of adaptive iterative learning control
- The first-order characteristic models of dynamic systems and adaptive iterative learning control of linear servo systems
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