ITERATIVE LEARNING CONTROL IN FEEDBACK SYSTEMS BASED ON AN OBJECTIVE FUNCTION

An objective function is proposed and an iterative learning control algorithm is derived based on this. The objective function is a quadratic form consisting of the output error and the input. By adjusting the weights in the objective function, the control objective of good command following at smaller input energy can be realized. The weight on the input energy in the objective function is shown to be directly related to the forgetting factor for robust iterative learning control. The convergence of the control algorithm has been proven and its characteristics are shown in the simulation examples.

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