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 Algorithm Design (cont.)<br />
Extensions (cont.)<br />
4. Exploit the diagonal structure of the multi-loop control system and implement an uncoupled<br />
feedforward approach <strong>to</strong> the input update for the third trial:<br />
u fb<br />
k+1 (t) = ufb<br />
u ff<br />
1<br />
k+1 (t) = −<br />
h1<br />
k (t) + γek(t + 1)<br />
�t−1<br />
n=0<br />
ht+1−nuk+1(n)<br />
uk+1(t) = u fb<br />
k+1 (t) + uff<br />
k+1 (t)<br />
5. The system will demonstrate exact convergence on the fourth trial (the deadbeat pole location<br />
provides convergence one step (trial) after the feedforward correction has been applied).
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