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On the design of ILC algorithms using optimization |
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| Authors: | Svante and Mikael |
| Affiliation: | Department of Electrical Engineering, Linköping University, SE-58183 Linköping, Sweden |
| Abstract: | Iterative learning control (ILC) based on minimization of a quadratic criterion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial industrial robot are also presented. |
| Keywords: | Learning control Optimization Robotics Frequency domains Non-minimum phase systems |
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