Pulse compensation for PD-type iterative learning control against initial state shift
Release Time:2025-04-30
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- Date:
- 2025-04-30
- Title of Paper:
- Pulse compensation for PD-type iterative learning control against initial state shift
- Journal:
- International Journal of Systems Science
- Summary:
- The rectangular pulse function is adopted to incorporate feed-forward compensation for various proportionalderivative-
type iterative learning control updating laws applied to a class of linear time-invariant systems with
initial state shift. The objective of pulse compensation is to suppress the tracking discrepancy incurred by initial
state shift. By means of the generalised Young inequality of the convolution integral, the tracking performance of
the pulse-based learning updating laws is analysed and the suppressive effect of the pulse compensation is
evaluated by measuring the tracking error in the sense of Lebesgue-p norm. The derivation clarifies that the upper
bound of the asymptotical tracking error can be improved by tuning the compensation gain properly though it is
determined not only by the proportional and derivative learning gains but also by the system state, input and
output matrices as well. Numerical simulations show that pulse compensation can effectively suppress the
tracking error caused by initial state shift.
- Co-author:
- Xiaoe Ruan, Z. Zenn Bien
- Translation or Not:
- No
- Date of Publication:
- 2012-11-19