Flexible ILC : towards a convex approach for non-causal rational basis functions

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Samenvatting

Iterative learning control (ILC) is subject to a trade-off between effective compensation of repeating disturbances, and amplification of non-repeating disturbances. Although important progress has been made in enhancing the flexibility of ILC to non-repeating tasks by means of basis functions, at present high performance comes at the cost of non-convex optimization. The aim of this paper is to develop a convex approach to ILC with rational basis functions. A key aspect of the proposed approach is the use of orthonormal basis functions in L2, such that non-causal control actions can be utilized. The benefits of using non-causal rational basis functions in ILC are demonstrated by means of a relevant example.
Originele taal-2Engels
Pagina's (van-tot)12107-12112
Aantal pagina's6
TijdschriftIFAC-PapersOnLine
Volume50
Nummer van het tijdschrift1
DOI's
StatusGepubliceerd - aug 2017
Evenement20th World Congress of the International Federation of Automatic Control (IFAC 2017 World Congress) - Toulouse, Frankrijk
Duur: 9 jul 201714 jul 2017
Congresnummer: 20
https://www.ifac2017.org/

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