State-tracking iterative learning control in frequency domain design for improved intersample behavior

Journal article (2022)

Authors

Wataru Ohnishi University of Tokyo
Nard Strijbosch Eindhoven University of Technology
T.A.E. Oomen Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering , Eindhoven University of Technology
Research Group
Team Jan-Willem van Wingerden (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Wataru Ohnishi, Nard Strijbosch, T.A.E. Oomen
DOI
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https://doi.org/10.1002/rnc.6511
Iterative learning control System inversion Frequency domain design Intersample behavior Multirate inversion
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Jan-Willem van Wingerden

Abstract

Iterative learning control (ILC) yields perfect output-tracking performance at sampling instances for systems that perform repetitive tasks. The aim of this article is to develop a framework for a state-tracking ILC that mitigates oscillatory intersample behavior, which is often encountered in output tracking ILC. As a framework for the analysis, the stability of the iterative domain including the robustness filter and the asymptotic signal is formulated. In addition, as a framework for the design, the design method using frequency response data to reduce the modeling effort, the learning filter design based on inversion, and the specific design procedure of the robustness filter are presented. The designed method is successfully applied to a motion system and it is shown that the presented state-tracking ILC provides better intersample behavior than the standard output-tracking ILC.