Improving the Performance of Iterative Learning Control Using Impulse Response
Subject Areas : مهندسی برق و کامپیوتر
A. Khojasteh Nejad
1
,
M. Mollaie Emamzadeh
2
*
,
M. مغفوری فرسنگی
3
1 - Dept. of Elec. Eng., Faculty of Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
2 - Dept. of Elec. Eng., Faculty of Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
3 - Dept. of Elec. Eng., Faculty of Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
Keywords: Iterative learning control, impulse response, delayed model, convergence speed.,
Abstract :
Iterative learning control algorithm (ILC) is a smart and effective method to improve the transient response of systems that work repeatedly in a certain time interval. Although control theory provides several design tools to improve the response of a dynamic system, it is not always possible to achieve the desired result due to the presence of unmodeled dynamics or parameter uncertainties. ILC is a design tool that can be used to overcome the shortcomings of traditional controller design, even when the model is uncertain or unknown and we have no information about the system and its nonlinearity. the optimal solution can be reached if, the structure of the control law and its parameters have been selected correctly. One of the most important effective factors in the control law structure is the time delay between input and output. In this paper, a method is proposed that uses the impulse response to select the optimal delay in the ILC law, and then the coefficients are determined. The desired method was used to control several dynamic systems and its efficiency was investigated in simulations and it can be seen that the best results in convergence are obtained for the proposed set delay.
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