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Some Controllability Aspects for Iterative Learning Control
Autoliv, Linkoping, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering. ABB Robot, Sweden.
2019 (English)In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, Vol. 21, no 3, p. 1057-1063Article in journal (Refereed) Published
Abstract [en]

Some controllability aspects for iterative learning control (ILC) are discussed. Via a batch (lifted) description of the problem a state space model of the system to be controlled is formulated in the iteration domain. This model provides insight and enables analysis of the conditions for and relationships between controllability, output controllability and target path controllability. In addition, the property miminum lead target path controllability is introduced. This property, which is connected to the number of time delays, plays an important role in the design of ILC algorithms. The properties are illustrated by a numerical example.

Place, publisher, year, edition, pages
WILEY , 2019. Vol. 21, no 3, p. 1057-1063
Keywords [en]
Iterative learning control; controllability; output controllability; target path controllability
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-158353DOI: 10.1002/asjc.1790ISI: 000468801000002OAI: oai:DiVA.org:liu-158353DiVA, id: diva2:1333840
Note

Funding Agencies|Vinnovas Industry Excellence Center LINK-SIC

Available from: 2019-07-02 Created: 2019-07-02 Last updated: 2019-10-28

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