15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
DISTURBANCE ASPECTS OF HIGH ORDER ITERATIVE LEARNING CONTROL
M. Norrlöf and S. Gunnarsson
Department of Electrical Engineering, Linköpings universitet,
SE-581 83 Linköping, Sweden
Tel: +46-13-282704 Fax: +46-13-282622
Email: mino@isy.liu.se, svante@isy.liu.se

Some initial results on the disturbance properties of high order iterative learning control (ILC) algorithms are presented. Of particular interest is to investigate how high order ILC algorithms cope with measurement and load disturbances of different character. Some results are obtained by assuming statistical properties of the involved disturbances and deriving equations for the covariance matrix of the control error vector. The results are illustrated by analytic derivation of the covariance matrix for a second order ILC algorithm with a particular choice of design variables.
Keywords: Learning control, linear systems, disturbance rejection, measurement noise, iterative methods
Session slot T-Th-A16: Higher-Order Iterative Learning Control/Area code 2a : Control Design