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|Title:||On the convergence speed of a class of higher-order ILC schemes|
|Authors:||Xu, J. |
|Source:||Xu, J.,Tan, Y. (2001). On the convergence speed of a class of higher-order ILC schemes. Proceedings of the IEEE Conference on Decision and Control 5 : 4932-4937. ScholarBank@NUS Repository.|
|Abstract:||In Iterative Learning Control (ILC) design, a direct objective is to achieve time-optimal learning in the presence of the system uncertainties. Higher-order ILC (HO-ILC) schemes have been proposed targeting at improving the convergence speed in the iteration domain. A m-th order ILC essentially uses system control information generated from past m iterations. A question is: can the convergence speed be improved in general by a HO-ILC? In this paper we show that, as far as the linear HO-ILC is concerned, the lower order ILC always outperform the higher-order ILC in the sense of time weighted norm. In order to facilitate a rigorous analysis of HO-ILC convergence speed and lay a fair basis for comparisons among ILC with different orders, the problem is formulated into a robust optimization problem in a min-max form.|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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