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|Title:||On iterative learning control design for tracking iteration-varying trajectories with high-order internal model|
High-order internal model
|Source:||Yin, C.,Xu, J.,Hou, Z. (2010). On iterative learning control design for tracking iteration-varying trajectories with high-order internal model. Journal of Control Theory and Applications 8 (3) : 309-316. ScholarBank@NUS Repository. https://doi.org/10.1007/s11768-010-0019-6|
|Abstract:||In this paper, iterative learning control (ILC) design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models (HOIM). An HOIM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOIM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOIM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control. © 2010 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.|
|Source Title:||Journal of Control Theory and Applications|
|Appears in Collections:||Staff Publications|
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