Iterative learning control with discrete‐time nonlinear nonminimum phase models via stable inversion

DOI10.1002/RNC.5726zbMATH Open1527.93126arXiv2108.07315OpenAlexW3190816560MaRDI QIDQ6092371FDOQ6092371

Authors: Nard Strijbosch, Tom Oomen, Kira Barton 

Publication date: 23 November 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: Output reference tracking can be improved by iteratively learning from past data to inform the design of feedforward control inputs for subsequent tracking attempts. This process is called iterative learning control (ILC). This article develops a method to apply ILC to systems with nonlinear discrete-time dynamical models with unstable inverses (i.e. discrete-time nonlinear non-minimum phase models). This class of systems includes piezoactuators, electric power converters, and manipulators with flexible links, which may be found in nanopositioning stages, rolling mills, and robotic arms, respectively. As these devices may be required to execute fine transient reference tracking tasks repetitively in contexts such as manufacturing, they may benefit from ILC. Specifically, this article facilitates ILC of such systems by presenting a new ILC synthesis framework that allows combination of the principles of Newton's root finding algorithm with stable inversion, a technique for generating stable trajectories from unstable models. The new framework, called Invert-Linearize ILC (ILILC), is validated in simulation on a cart-and-pendulum system with model error, process noise, and measurement noise. Where preexisting Newton-based ILC diverges, ILILC with stable inversion converges, and does so in less than one third the number of trials necessary for the convergence of a gradient-descent-based ILC technique used as a benchmark.

Full work available at URL: https://arxiv.org/abs/2108.07315

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zbMATH Keywords

iterative learning controlNewton's methodstable inversionnonminimum phase

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Iterative learning control (93B47)

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Cited In (3)

• Iterative learning control with advanced output data for nonlinear non-minimum phase systems
• Iterative learning control with inverse model updated with quadratic optimization
• Lifted time stable inversion based feedforward control for linear non-minimum phase systems

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