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PREDICTION IN ITERATIVE LEARNING CONTROL SCHEMES VERSUS LEARNING ALONG THE TRIALS
M. Rzewuski* E. Rogers* D. H. Owens**
* Dept. of Electronics and Computer Science, University of
Southampton, Southampton SO17 1BJ UK
** Department of Automatic Control and Systems
Engineering, University of Sheffield, Sheffield S1 3JD, UK
A key question in the development of iterative learning control (ILC) has been its performance against non-minimum phase dynamics. In this paper, we investigate the relative performance of a higher order ILC algorithm - so-called predictive norm optimal ILC where the higher order property results from the inclusion of predicted future trials errors in the cost function which determines the current trial input against a learning along the trial approach.
Keywords: iterative learning control, optimal algorithms
Session slot T-Th-A16: Higher-Order Iterative Learning Control/Area code 2a : Control Design
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