Iterative learning control for nonlinear nonminimum phase plants with input disturbances

1999 ◽  
Keyword(s):  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Nonminimum Phase

Pseudo-Inverse Based Iterative Learning Control for Linear Nonminimum Phase Plants with Unmodeled Dynamics*

2004 ◽  
Vol 126 (3) ◽  
pp. 661-665 ◽  
Author(s):  
Jayati Ghosh ◽  
Brad Paden
Keyword(s):  
Iterative Learning Control ◽  
Low Frequency ◽  
Learning Control ◽  
Iterative Learning ◽  
Nonminimum Phase ◽  
Low Pass ◽  
Frequency Components ◽  
Iteration Loop ◽  
Plant Uncertainty ◽  
Pseudo Inverse

Learning control is a very effective approach for tracking repetitive processes. In this paper, the stable-inversion based learning controller as presented in (Ghosh, J. and Paden, B., 1999, “Iterative Learning Control for Nonlinear Nonminimum Phase Plants with Input Disturbances,” in Proc. of American Control Conference; Ghosh, J. and Paden, B., 1999, “A pseudo-inverse based Iterative Learning Control for Nonlinear Plants with Disturbances,” in Proc. of 38th Conference on Decision and Control.) is modified to accommodate linear nonminimum phase plants with uncertainties. The design of the learning controller is based on the computation of an approximate inverse of the nominal model of the linear plant, rather than its exact inverse. The advantages of this approach are that the output of the plant need not be differentiated and also the plant model need not be exact. A low pass zero-phase filter is used in the iteration loop to achieve robustness to plant uncertainty. The structure of the controller is such that the low frequency components of the trajectory converge faster than the high frequency components.

scholarly journals Influence of Nonminimum Phase Zeros on the Performance of Optimal Continuous-Time Iterative Learning Control

2014 ◽  
Vol 22 (3) ◽  
pp. 1151-1158 ◽  
Author(s):  
David H. Owens ◽  
Bing Chu ◽  
Eric Rogers ◽  
Chris T. Freeman ◽  
Paul L. Lewin
Keyword(s):  
Continuous Time ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Nonminimum Phase
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