Monotonically convergent iterative learning control for linear discrete-time systems |
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| Authors: | Kevin L Moore [Author Vitae] [Author Vitae] Vikas Bahl [Author Vitae] |
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| Affiliation: | Center for Self-Organizing and Intelligent Systems (CSOIS), Department of Electrical and Computer Engineering, UMC 4160, College of Engineering, 4160 Old Main Hill, Utah State University, Logan, UT 84322-4160, USA |
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| Abstract: | In iterative learning control schemes for linear discrete time systems, conditions to guarantee the monotonic convergence of the tracking error norms are derived. By using the Markov parameters, it is shown in the time-domain that there exists a non-increasing function such that when the properly chosen constant learning gain is multiplied by this function, the convergence of the tracking error norms is monotonic, without resort to high-gain feedback. |
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| Keywords: | Iterative learning control Discrete time system Transient learning performance Monotonic convergence |
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