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 and One-Step-Ahead Minimum Error <strong>Control</strong><br />
Input Sequence Resulting from ILC<br />
• As above, let the plant <strong>to</strong> be controlled be of the form:<br />
and let:<br />
so that we can write:<br />
Y (z) = H(z)U(z) = (h1z −1 + h2z −2 + h3z −3 + · · · )U(z)<br />
uk = [uk(0), uk(1), · · · , uk(N − 1)] T<br />
yk = [yk(1), yk(2), · · · , yk(N)] T<br />
yd = [yd(1), yd(2), · · · , yd(N)] T<br />
yk = Huk<br />
where H is the matrix of the system’s Markov parameters.
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