Title :
A comparison of inversion based Iterative Learning Control Algorithms
Author :
Kuo-Tai Teng ; Tsu-Chin Tsao
Author_Institution :
Mech. & Aerosp. Eng., Univ. of California, Los Angeles, Los Angeles, CA, USA
Abstract :
The learning filter in Iterative Learning Control determines the performance in terms of convergence rate and converged error. The ideal learning filter is the inverse of the system being learned. For minimum phase system, direct system inversion can be implemented easily. However for non-minimum phase system, direct system inversion would result in an unstable filter. In the literature, there are several methods that approximate the system inversion. In time domain, zero-phase-error tracking controller (ZPETC) and zero-magnitude-error tracking controller (ZMETC) have been used frequently for non-minimum phase system. In frequency domain, Model-less Inversion-based Iterative Control (MIIC) has been used for atomic force microscope (AFM) imaging. In this paper, a data-based dynamic inversion method in the frequency domain is proposed, and the performance is compared with aforementioned inversion methods.
Keywords :
atomic force microscopy; convergence; iterative methods; learning systems; AFM; MIIC; ZMETC; ZPETC; atomic force microscope imaging; converged error; convergence rate; data-based dynamic inversion method; direct system inversion; inversion based iterative learning control algorithms; learning filter; minimum phase system; model-less inversion-based iterative control; nonminimum phase system; time domain; unstable filter; zero-magnitude-error tracking controller; zero-phase-error tracking controller; Approximation methods; Convergence; Finite impulse response filters; Frequency-domain analysis; Heuristic algorithms; System dynamics; Transfer functions;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171883
