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Physical Sciences and Mathematics Commons™
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Missouri University of Science and Technology
Mechanical and Aerospace Engineering Faculty Research & Creative Works
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Full-Text Articles in Physical Sciences and Mathematics
Robustness Analysis Of Slow Learning In Iterative Learning Control Systems, John R. Singler, Douglas A. Bristow
Robustness Analysis Of Slow Learning In Iterative Learning Control Systems, John R. Singler, Douglas A. Bristow
Mechanical and Aerospace Engineering Faculty Research & Creative Works
This paper examines robust stability and robust transient growth in Iterative Learning Control (ILC). It is well known that small perturbations in system dynamics can result in very large transient growth of some ILC systems. Even larger perturbations can result in instability. One ad hoc technique commonly employed to improve robustness is to slow the learning rate by reducing the learning filter gain or lowpass filtering the error signal. Here, pseudospectra analysis is used to analyze the robustness of ILC algorithms with slow learning. It is found that robustness bounds can be increased and transient growth decreased with decreasing learning …
Towards Transient Growth Analysis And Design In Iterative Learning Control, Douglas A. Bristow, John R. Singler
Towards Transient Growth Analysis And Design In Iterative Learning Control, Douglas A. Bristow, John R. Singler
Mechanical and Aerospace Engineering Faculty Research & Creative Works
In this article the problem of bounding transient growth in iterative learning control (ILC) is examined. While transient growth is not a desirable property, the alternative, robust monotonic convergence, leads to fundamental performance limitations. to circumvent these limitations, this article considers the possibility that some transient growth, if properly limited, is a viable and practical option. Towards this end, this article proposes tools for analysing worst-case transient growth in ILC. the proposed tools are based on pseudospectra analysis, which is extended to apply to ILC of uncertain systems. Two practical problems in norm-optimal ILC weighting parameter design are considered. Using …