Title :
A convergence analysis of D-ILC algorithm
Author :
Shaikh, Inam Ul Hasan ; Brown, Martin
Author_Institution :
Control Syst. Centre, Univ. of Manchester, Manchester, UK
Abstract :
ILC is an emerging technique for learning control. The D-ILC algorithm is the generic ILC scheme which captures the error trend of a batch to update the control input for the next batch or batches. The 2-dimensional nature requires in-depth convergence analysis of the algorithm. This paper addresses these issues in detail. This paper deals with the convergence properties of ILC algorithms with emphasis on control input. Discrete-time linear state space representation of a linear time-invariant system has been considered along with usual assumptions which ensure D-type ILC algorithm converges in terms of output error. The convergence for control input sequence is investigated up to component level.
Keywords :
discrete time systems; iterative methods; learning systems; linear systems; state-space methods; D-ILC algorithm; D-type ILC algorithm; convergence analysis; convergence property; discrete-time linear state space representation; generic ILC scheme; linear time-invariant system; Algorithm design and analysis; Angular velocity; Control systems; Convergence; Eigenvalues and eigenfunctions; Indexes; Vectors; Iterative Learning Control; Rate of Convergence;
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
DOI :
10.1109/CONTROL.2012.6334728
