A frequency-domain approach for enhanced performance and task flexibility in finite-time ILC
Max Van Haren (Eindhoven University of Technology)
Kentaro Tsurumoto (University of Tokyo)
Masahiro Mae (University of Tokyo)
Lennart Blanken (Sioux, Eindhoven University of Technology)
Wataru Ohnishi (University of Tokyo)
Tom Oomen (TU Delft - Team Jan-Willem van Wingerden, Eindhoven University of Technology)
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Abstract
Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to achieve both the task flexibility enabled by ILC with basis functions and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework.
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