Real-time learning control method and its application to AC-servomotor control

Author

Shi, Zhong-ke

Author_Institution

Dept. of Autom. Control, Northwestern Polytech. Univ., Xi´´an, China

Volume

2

fYear

2002

fDate

2002

Firstpage

900

Abstract

A conception of real-time iterative learning control is first introduced in this paper. Based on the criterion of error convergence, a PID type of learning control algorithm for nonlinear systems is presented and the convergence condition is given. Compared with an off-line iterative learning control algorithm, the new method has a good global convergence property, simple structure, and small computations. The new approach can be used in online control. The results of application to AC-servomotor control show that this method is highly robust to model changes.

Keywords

AC motors; convergence; discrete time systems; learning systems; nonlinear systems; real-time systems; servomotors; three-term control; AC servomotor control; PID type control; convergence; discrete-time system; error convergence; iterative learning control; nonlinear system; real-time control; Automatic control; Control systems; Convergence; Equations; Error correction; Iterative algorithms; Iterative methods; Nonlinear control systems; Nonlinear systems; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on

Print_ISBN

0-7803-7508-4

Type

conf

DOI

10.1109/ICMLC.2002.1174513

Filename

1174513