Authors:
C. Freeman
1
;
P. Lewin
1
;
E. Rogers
1
;
J. Hätönen
2
;
T. Harte
2
and
D. H. Owens
2
Affiliations:
1
School of Electronics and Computer Science, University of Southampton, United Kingdom
;
2
University of Sheffield, United Kingdom
Keyword(s):
Iterative Learning Control, Repetitive Control, Dead-beat control
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
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.