A NOVEL REPETITIVE CONTROL ALGORITHM COMBINING ILC AND DEAD-BEAT CONTROL

C. Freeman, P. Lewin, E. Rogers, J. Hätönen, T. Harte, D. H. Owens

Abstract

In this paper it is explored whether or not a well-known adjoint Iterative Learning Control (ILC) algorithm can be applied to Repetitive Control (RC) problems. It is found that due to the lack of resetting in Repetitive Control, and the non-causal nature of the adjoint algorithm, the implementation requires a truncation procedure that can lead to instability. In order to avoid the truncation procedure, as a novel idea it is proposed that dead-beat control can used to shorten the impulse response of the plant to be so short that the need for truncation is removed. Therefore, convergence is guaranteed, if the adjoint algorithm is applied to the closed-loop plant with a dead-beat controller. The proposed algorithm is validated using real-time experiments on a non-minimum phase spring-mass-damper system. The experimental results show fast convergence to near perfect tracking, demonstrating the applicability of the proposed algorithm to industrial RC problems.

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Paper Citation


in Harvard Style

Freeman C., Lewin P., Rogers E., Hätönen J., Harte T. and H. Owens D. (2004). A NOVEL REPETITIVE CONTROL ALGORITHM COMBINING ILC AND DEAD-BEAT CONTROL . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: Special Session on Analytical and Simulation Methods for Complex Systems, (ICINCO 2004) ISBN 972-8865-12-0, pages 257-263. DOI: 10.5220/0001137302570263


in Bibtex Style

@conference{special session on analytical and simulation methods for complex systems04,
author={C. Freeman and P. Lewin and E. Rogers and J. Hätönen and T. Harte and D. H. Owens},
title={A NOVEL REPETITIVE CONTROL ALGORITHM COMBINING ILC AND DEAD-BEAT CONTROL},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: Special Session on Analytical and Simulation Methods for Complex Systems, (ICINCO 2004)},
year={2004},
pages={257-263},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001137302570263},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: Special Session on Analytical and Simulation Methods for Complex Systems, (ICINCO 2004)
TI - A NOVEL REPETITIVE CONTROL ALGORITHM COMBINING ILC AND DEAD-BEAT CONTROL
SN - 972-8865-12-0
AU - Freeman C.
AU - Lewin P.
AU - Rogers E.
AU - Hätönen J.
AU - Harte T.
AU - H. Owens D.
PY - 2004
SP - 257
EP - 263
DO - 10.5220/0001137302570263