On equivalence classes in iterative learning control

Verwoerd, Mark H.A. and Meinsma, Gjerrit and Vries de, Theo J.A. (2003) On equivalence classes in iterative learning control. In: American Control Conference, 2003, 4-6 June 2003, Denver, Colorado, USA.

Preview

PDF
598Kb

Abstract:	This paper advocates a new approach to study the relation between causal iterative learning control (ILC) and conventional feedback control. Central to this approach is the introduction of the set of admissible pairs (of operators) defined with respect to a family of iterations. Considered are two problem settings: standard ILC, which does not include a current cycle feedback (CCF) term and CCF-ILC, which does. By defining an equivalence relation on the set of admissible pairs, it is shown that in the standard ILC problem there exists a bijective map between the induced equivalence classes and the set of all stabilizing controllers. This yields the well-known Youla parameterization as a corollary. These results do not extend in full generality to the case of CCF-ILC; though gain every admissible pair defines a stabilizing equivalent controller, the converse is no longer true in general.
Item Type:	Conference or Workshop Item
Copyright:	©2003 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/46231
Official URL:	http://dx.doi.org/10.1109/ACC.2003.1244125
Export this item as:	BibTeX EndNote HTML Citation Reference Manager

Repository Staff Only: item control page

Metis ID: 214339