Disturbances and model uncertainties in iterative learning control
- Resource Type
- Conference
- Authors
- Merry, R.; van de Molengraft, R.; Steinbuch, M.
- Source
- The Fourth International Workshop on Multidimensional Systems, 2005. NDS 2005. Multidimensional Systems Multidimensional Systems, 2005. NDS 2005. The Fourth International Workshop on. :136-141 2005
- Subject
- Signal Processing and Analysis
Computing and Processing
Communication, Networking and Broadcast Technologies
Uncertainty
Control systems
Adaptive control
Filters
Error correction
Analytical models
Mechanical engineering
Feedback control
Load modeling
Performance analysis
- Language
A high performance feedforward signal for systems that perform repetitive tasks can be derived using iterative learning control (ILC). Disturbances present in the feedback control loop, such as measurement and load disturbances, enter the learning process and deteriorate the performance of ILC. Model uncertainties also influence the learning process and the minimum achievable error of ILC. This paper presents an expression for the tracking error of an arbitrary iteration that shows the influence of measurement disturbances, load disturbances and model uncertainties throughout the learning process. The tracking error is proven to be determined to a great extend by both the disturbances of the last two iterations and the model uncertainties.