Article ID Journal Published Year Pages File Type
698917 Automatica 2016 6 Pages PDF
Abstract

Iterative learning control (ILC) based on minimization of a quadratic criterion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial industrial robot are also presented.

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Physical Sciences and Engineering Engineering Control and Systems Engineering
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On the design of ILC algorithms using optimization
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