Inferential iterative learning control with basis functions : application in wide format media handling

This report, Inferential Iterative Learning Control with Basis Functions: Application in Wide Format Media Handling, is a traineeship report within the Control Systems Technology Group of the faculty of Mechanical Engineering at the Eindhoven University of Technology. Research is performed at Océ Technologies B.V. in Venlo under supervision of prof. Dr. Ir. M. Steinbuch, Dr. ir. S.H. Koekebakker and Ing. S. Winteraeken. The focus of this report is on designing an intelligent media handling controller that minimizes interactions between the media loading and media positioning. Iterative Learning Control (ILC) has proven to be successful in increasing performance in industrial applications with repetitive tasks, a shortcoming of ILC is however its model and reference dependency. Basis functions were introduced to enlarge the ability to accommodate for variations in the reference and initial conditions. Performance is not always measured in a collocated fashion, in the industrial application at hand it is measured indirectly. This calls for inferential iterative learning control (IILC), where the performance increase via ILC is rendered in a non-collocated setting while stability is guaranteed by a collocated feedback loop. This report proves that the designed IILC algorithm with basis functions is robust against variations in the load and reference while achieving signicant improvements in comparison to previously developed ILC algorithms