This paper presents a frequency domain analysis toward the robustness, convergence speed, and steady-state error for general linear time invariant (LTI) iterative learning control (ILC) for single-input-single-output (SISO) LTI systems and demonstrates the optimality of norm-optimal iterative learning control (NO-ILC) in terms of balancing the tradeoff between robustness, convergence speed, and steady-state error. The key part of designing LTI ILC updating laws is to choose the Q-filter and learning gain to achieve the desired robustness and performance, i.e., convergence speed and steady-state error. An analytical equation that characterizes these three terms for NO-ILC has been previously presented in the literature. For general LTI ILC updating laws, however, this relationship is still unknown. Adopting a frequency domain analysis approach, this paper characterizes this relationship for LTI ILC updating laws and, subsequently, demonstrates the optimality of NO-ILC in terms of balancing the tradeoff between robustness, convergence speed, and steady-state error.
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Optimality of Norm-Optimal Iterative Learning Control Among Linear Time Invariant Iterative Learning Control Laws in Terms of Balancing Robustness and Performance
Xinyi Ge
,
Xinyi Ge
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Jeffrey L. Stein
,
Jeffrey L. Stein
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Tulga Ersal
Tulga Ersal
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Xinyi Ge
Jeffrey L. Stein
Tulga Ersal
1
Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 6, 2017; final manuscript received November 21, 2018; published online December 19, 2018. Assoc. Editor: Soo Jeon.
J. Dyn. Sys., Meas., Control. Apr 2019, 141(4): 044502 (5 pages)
Published Online: December 19, 2018
Article history
Received:
November 6, 2017
Revised:
November 21, 2018
Citation
Ge, X., Stein, J. L., and Ersal, T. (December 19, 2018). "Optimality of Norm-Optimal Iterative Learning Control Among Linear Time Invariant Iterative Learning Control Laws in Terms of Balancing Robustness and Performance." ASME. J. Dyn. Sys., Meas., Control. April 2019; 141(4): 044502. https://doi.org/10.1115/1.4042091
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