Abstract
In this chapter, two multi-rate iterative learning control (ILC) schemes, pseudo-downsampled ILC and two-mode ILC are proposed for good learning performance. In pseudo-downsampled ILC, error and input signals are downsampled before they are used in ILC learning law. The output of ILC is then upsampled to the original rate for the next cycle. In two-mode ILC, different learning mechanisms are used on low and high frequency bands, respectively. On low frequency band, a conventional ILC with the original sampling rate is used. While on the high frequency band, a pseudo-downsampled ILC is used. Experimental results are presented to demonstrate the effectiveness of the proposed multi-rate ILC schemes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Moore KL (2001) An observation about monotonic convergence of discrete-time, P-type iterative learning control. In: IEEE Symposium on Intelligent Control, Mexico, pp 45–49
Hillenbrand S, Pandit M (2000) An iterative learning controller with reduced sampling rate for plant with variations of initial states. Int J Control 73:882–889
Sadegh N, Hu A, James C (2002) Synthesis, stability analysis, and experimental implementation of a multirate repetitive learning controller. Trans ASME: J Dyn Syst Meas Control 124:668–674
Longman RW (2000) Iterative learning control and repetitive control for engineering practice. Int J Control 73(10):930–954
Zhang B, Wang D, Wang Y, Ye Y, Zhou K (2008) Comparison studies on anti-aliasing/anti-imaging filtering and signal extension in multi-rate ILC. In: IFAC World Congress, Seoul, Korea, pp 12468–12473
Plotnik AM, Longman RW (1999) Subtleties in the use of zero-phase low-pass filtering and cliff filtering in learning control. Adv Astronaut Sci 103:673–692
Zhang B, Wang D, Ye Y, Wang Y, Zhou K (2007) Two-mode ILC with pseudo-downsampled learning in high frequency range. Int J Control 80(3):349–362
Longman RW, Wirkander S-L (1998) Automated tuning concepts for iterative learning and repetitive control laws. In: Proceedings of the 37th CDC, FL, USA, pp 192–198
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2014 Springer Science+Business Media Singapore
About this chapter
Cite this chapter
Wang, D., Ye, Y., Zhang, B. (2014). Pseudo-Downsampled ILC. In: Practical Iterative Learning Control with Frequency Domain Design and Sampled Data Implementation. Advances in Industrial Control. Springer, Singapore. https://doi.org/10.1007/978-981-4585-60-6_7
Download citation
DOI: https://doi.org/10.1007/978-981-4585-60-6_7
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-4585-59-0
Online ISBN: 978-981-4585-60-6
eBook Packages: EngineeringEngineering (R0)