Resource efficient ILC: enabling large tasks on an industrial position-dependent flatbed printer

J. van Zundert, J.J. Bolder, S.H. Koekebakker, T.A.E. Oomen

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Norm-optimal ILC enables high performance for systems that execute repeating tasks. Lifting techniques provide an analytic expression for the optimal feedforward signal. However, for large tasks the computational load increases rapidly for increasing task length. The aim of this paper is to show the benefits of a Riccati-based approach, which is developed in this paper for a general performance criterion and is applicable to both linear time-invariant (LTI) and linear time-varying (LTV) systems. The approach is implemented on an industrial position-dependent atbed printer with large tasks which cannot be implemented using lifted ILC. Compared to lifted ILC, the proposed resource-efficient ILC provides the same high performance, but at a significantly smaller computational load (O(N) vs O(N^3)) making it more suitable for practical implementation.
Original languageEnglish
Pages (from-to)567-574
Issue number21
Publication statusPublished - 10 Nov 2016
Event7th IFAC Symposium on Mechatronic Systems, September 5-8, 2016, Loughborough, UK - Loughborough, United Kingdom
Duration: 5 Sept 20168 Sept 2016


  • Iterative learning control
  • resource efficient ILC
  • motion control
  • feedforward control design
  • industrial application


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  • Best Student Paper

    van Zundert, Jurgen (Recipient), Sept 2016

    Prize: OtherCareer, activity or publication related prizes (lifetime, best paper, poster etc.)Scientific

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