An Introduction to Iterative Learning Control - Inside Mines
An Introduction to Iterative Learning Control - Inside Mines
An Introduction to Iterative Learning Control - Inside Mines
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ILC Problem Formulation - 1<br />
• Standard iterative learning control scheme:<br />
uk<br />
� ✲ System � ✲<br />
Memory Memory Memory<br />
uk+1<br />
✻<br />
✻<br />
❄<br />
❄<br />
<strong>Learning</strong><br />
<strong>Control</strong>ler<br />
• Goal: Find a learning control algorithm<br />
so that for all t ∈ [0, tf]<br />
✛<br />
✛<br />
❄<br />
uk+1(t) = fL(uk(t); yk(t), yd(t))<br />
lim<br />
k→∞ yk(t) = yd(t)<br />
yk<br />
yd