Some Controllability Aspects for Iterative Learning Control

被引：10
作者：
Leissner, Patrik [1 ]
Gunnarsson, Svante [2 ]
Norrlof, Mikael [2 ,3 ]
机构：
[1] Autoliv, Linkoping, Sweden
[2] Linkoping Univ, Dept Elect Engn, Linkoping, Sweden
[3] ABB Robot, Vasteras, Sweden
来源：
ASIAN JOURNAL OF CONTROL | 2019年 / 21卷 / 03期
关键词：
Iterative learning control; controllability; output controllability; target path controllability; SYSTEMS;
D O I：
10.1002/asjc.1790
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1057 / 1063
页数：7
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