Displaying similar documents to “Iterative learning control for over-determined under-determined, and ill-conditioned systems”

On the interaction between theory experiments and simulation in developing practical learning control algorithms

Richard Longman (2003)

International Journal of Applied Mathematics and Computer Science

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Iterative learning control (ILC) develops controllers that iteratively adjust the command to a feedback control system in order to converge to zero tracking error following a specific desired trajectory. Unlike optimal control and other control methods, the iterations are made using the real world in place of a computer model. If desired, the learning process can be conducted both in the time domain during each iteration and in repetitions, making ILC a 2D system. Because ILC iterates...

Iterative Learning Control - monotonicity and optimization

David H. Owens, Steve Daley (2008)

International Journal of Applied Mathematics and Computer Science

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The area if Iterative Learning Control (ILC) has great potential for applications to systems with a naturally repetitive action where the transfer of data from repetition (trial or iteration) can lead to substantial improvements in tracking performance. There are several serious issues arising from the "2D" structure of ILC and a number of new problems requiring new ways of thinking and design. This paper introduces some of these issues from the point of view of the research group at...

Motor control neural models and systems theory

Kenji Doya, Hidenori Kimura, Aiko Miyamura (2001)

International Journal of Applied Mathematics and Computer Science

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In this paper, we introduce several system theoretic problems brought forward by recent studies on neural models of motor control. We focus our attention on three topics: (i) the cerebellum and adaptive control, (ii) reinforcement learning and the basal ganglia, and (iii) modular control with multiple models. We discuss these subjects from both neuroscience and systems theory viewpoints with the aim of promoting interplay between the two research communities.

A 2D system approach to the design of a robust modified repetitive-control system with a dynamic output-feedback controller

Lan Zhou, Jinhua She, Shaowu Zhou (2014)

International Journal of Applied Mathematics and Computer Science

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This paper is concerned with the problem of designing a robust modified repetitive-control system with a dynamic outputfeedback controller for a class of strictly proper plants. Employing the continuous lifting technique, a continuous-discrete two-dimensional (2D) model is built that accurately describes the features of repetitive control. The 2D control input contains the direct sum of the effects of control and learning, which allows us to adjust control and learning preferentially....