On the of noncausal LTI operators in iterative learning control

Verwoerd, Mark H.A. and Meinsma, G. and Vries de, Theo J.A. (2002) On the of noncausal LTI operators in iterative learning control. In: 41st IEEE Conference on Decision and Control, 2002, 10-13 Dec. 2002, Las Vegas, Nevada, U.S.A.

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Abstract:	This paper demonstrates the use of noncausal operators in iterative learning control (ILC). First, it is shown that for a particular class of plants (having unstable zeros), perfect tracking can only be achieved by using noncausal operators. Then it is shown that with any converging algorithm (both causal and noncausal) we can associate a particular feedback controller. For causal algorithms this controller can be shown to be internally stabilizing. In the noncausal case, however, the associated controller is found to be generally destabilizing which implies that the existing notion of an equivalent controller for causal ILC does not extend to noncausal ILC.
Item Type:	Conference or Workshop Item
Copyright:	©2002 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Mathematical Systems and Control Theory (MSCT) Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/43865
Official URL:	http://dx.doi.org/10.1109/CDC.2002.1184394
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