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Title: Initial state iterative learning for final state control in motion systems
Authors: Xu, J.-X. 
Huang, D.
Keywords: Final state control
Initial state learning
Iterative learning control (ILC)
Spatial learning
Issue Date: Dec-2008
Citation: Xu, J.-X., Huang, D. (2008-12). Initial state iterative learning for final state control in motion systems. Automatica 44 (12) : 3162-3169. ScholarBank@NUS Repository.
Abstract: In this work, an initial state iterative learning control (ILC) approach is proposed for final state control of motion systems. ILC is applied to learn the desired initial states in the presence of system uncertainties. Four cases are considered where the initial position or speed is a manipulated variable and the final displacement or speed is a controlled variable. Since the control task is specified spatially in states, a state transformation is introduced such that the final state control problems are formulated in the phase plane to facilitate spatial ILC design and analysis. An illustrative example is provided to verify the validity of the proposed ILC algorithms. © 2008 Elsevier Ltd. All rights reserved.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/j.automatica.2008.05.017
Appears in Collections:Staff Publications

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