A multirate iterative learning control scheme

A novel control scheme has been developed in this work that combines the multirate technique and iterative learning control (ILC). The multirate technique produces a faster sampling rate by means of an estimator, which assists the ILC scheme to better perform in achieving perfect tracking along the iteration, axis. We first show the multirate and ILC design. Then the multirate estimator and ILC are unified both in a fixed sampling rate, in order to facilitate control system analysis. In the sequel the characteristics of multirate estimator, ILC and the synergy are analyzed respectively. Subsequently, the new scheme is applied to and verified by a ball-and-beam system.

[1]  J. Kurek,et al.  Iterative learning control synthesis based on 2-D system theory , 1993, IEEE Trans. Autom. Control..

[2]  Seung-Hi Lee,et al.  Design of a multi-rate estimator and its application to a disk drive servo system , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[3]  Chung Choo Chung,et al.  Multirate digital control system design , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[4]  Zeungnam Bien,et al.  Iterative learning control: analysis, design, integration and applications , 1998 .

[5]  B. Anderson,et al.  Digital control of dynamic systems , 1981, IEEE Transactions on Acoustics, Speech, and Signal Processing.

[6]  S. Saab A discrete-time learning control algorithm for a class of linear time-invariant systems , 1995, IEEE Trans. Autom. Control..

[7]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[8]  Gene F. Franklin,et al.  A new optimal multirate control of linear periodic and time-invariant systems , 1990 .

[9]  Martin C. Berg,et al.  Multirate digital control system design , 1988 .

[10]  M. Araki,et al.  Multivariable multirate sampled-data systems: State-space description, transfer characteristics, and Nyquist criterion , 1986 .

[11]  T. Coffey,et al.  Stability analysis of multiloop, multirate sampled systems. , 1966 .

[12]  Masayoshi Tomizuka,et al.  Multi-rate controller for hard disk drive with redesign of state estimator , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[13]  W.-W. Chiang,et al.  Multirate state-space digital controller for sector servo systems , 1990, 29th IEEE Conference on Decision and Control.

[14]  Jian-Xin Xu,et al.  Iterative Learning Control , 1998 .