Phase lead is introduced to iterative learning control systems. The best phase lead is the one that can exactly compensate the phase lag of a system. A zero phase learning control using reversed time input runs is proposed based on the analysis in frequency domain utilizing a simple phase lead generation method. The plant itself or a nominal model is used to obtain the desired phase lead to ensure the monotonic convergence of tracking errors. The learning controller is robust to large inaccuracies of system models.
Zero Phase Learning Control Using Reversed Time Input Runs
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 2002; final revision, February 25, 2004. Review conducted by: R. Langari.
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Ye , Y., and Wang, D. (May 10, 2005). "Zero Phase Learning Control Using Reversed Time Input Runs ." ASME. J. Dyn. Sys., Meas., Control. March 2005; 127(1): 133–139. https://doi.org/10.1115/1.1849251
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