Comparative study on first and second order ILC [Elektronisk resurs] : frequency domain analysis and experiments / Mikael Norrlöf

• Aspects on the behavior of a general second order iterative learning control (ILC) algorithm are presented from a frequency domain perspective. This includes stability as well as performance and robustness issues. The basis for the analysis is linear iterative systems and these are briefly described. A design algorithm for second order ILC schemes is proposed and analyzed both theoretically as well as in an experiment. In the experiment, done on a commercial industrial robot control system, the second order ILC design is compared with a first order ILC design. The result from both the analysis and the experiment is that the second order design is not better with respect to performance or robustness. 

Indexterm och SAB-rubrik

Iterative learning control ILC High order ILC Experiment Robot