Convergence characteristics of PD-type iterative learning control in discrete frequency domain
Release Time:2025-04-30
Hits:
- Date:
- 2025-04-30
- Title of Paper:
- Convergence characteristics of PD-type iterative learning control in discrete frequency domain
- Journal:
- Journal of Process Control
- Summary:
- On the basis that a Dirichlet-type signal over a finite time period can be expanded in a Fourier seriesconsisting of fundamental-frequency sinusoidal and cosine waves plus a sequence of higher-frequencyharmonic waves, this paper investigates the convergence characteristics of the first- and second-orderproportional-derivative-type iterative learning control schemes for repetitive linear time-invariant sys-tems in discrete spectrum. By deriving the properties of the Fourier coefficients in a complex form withrespect to the linear time-invariant dynamics and adopting Parseval’s Energy Equality, the average energyof the tracking error signal over the finite operation time interval is converted into a quarter of a sum-mation of the fundamental spectrum plus the harmonic spectrums. By means of analyzing the featureof discrete frequency-wise spectrum of the tracking error, sufficient and necessary conditions for mono-tone convergence with respect to the first-order iterative learning control scheme is deduced togetherwith convergence of the second-order learning scheme is discussed. Numerical simulations manifest thevalidity and the effectiveness.
- Co-author:
- Xiaoe Ruan, Zhaozhen Li
- Volume:
- 24（2014）
- Page Number:
- 86-94
- Translation or Not:
- No
- Date of Publication:
- 2014-11-13