Convergence characteristics of PD-type iterative learning control in discrete frequency domain
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发布时间：2025-04-30
发布时间：2025-04-30
论文名称：Convergence characteristics of PD-type iterative learning control in discrete frequency domain
发表刊物：Journal of Process Control
摘要：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.
合写作者：Xiaoe Ruan, Zhaozhen Li
卷号：24（2014）
页面范围：86-94
是否译文：否
发表时间：2014-11-13