Iterative learning control for linear discrete time nonminimum phase systems |
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Authors: | Gu-Min Jeong |
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Affiliation: | School of Electrical Engineering and Computer Science, Seoul National University, San 56-1 Shinlim-dong, Kwanak-ku, Seoul 151-742, South Korea |
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Abstract: | This paper investigates iterative learning control for linear discrete time nonminimum phase systems. First, iterative learning control with advanced output data is considered for maximum phase systems. Next, the results are extended to nonminimum phase systems. The stability of the inverse mapping from the desired output to the input is proven based on the results for maximum phase systems. The input should be updated with the output which is more advanced than the input by the sum of the relative degree of the system and the number of nonminimum phase zeros. An example is given to indicate the importance of proper advances of output in the input update law. |
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Keywords: | Iterative learning control Nonminimum phase Stability |
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