On the use of noncausal LTI operators in iterative learning control

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Abstract

This paper demonstrates the use of noncausal operators in iterative learning control (ILC). First, it is shown that for a particular class of plants (having unstable zeros), perfect tracking can only be achieved by using noncausal operators. Then it is shown that with any converging algorithm (both causal and noncausal) we can associate a particular feedback controller. For causal algorithms this controller can be shown to be internally stabilizing. In the noncausal case, however, the associated controller is found to be generally destabilizing which implies that the existing notion of an equivalent controller for causal ILC does not extend to noncausal ILC.
Original languageEnglish
Title of host publicationProceedings of the 41st IEEE Conference on Decision and Control
Place of PublicationLas Vegas, Nevada (USA)
PublisherIEEE
Pages3362-3366
Number of pages5
ISBN (Print)0-7803-7516-5
DOIs
Publication statusPublished - 10 Dec 2002
Event41st IEEE Conference on Decision and Control, CDC 2002 - Las Vegas, United States
Duration: 10 Dec 200213 Dec 2002
Conference number: 41

Publication series

Name
PublisherIEEE
Volume3

Conference

Conference41st IEEE Conference on Decision and Control, CDC 2002
Abbreviated titleCDC
CountryUnited States
CityLas Vegas
Period10/12/0213/12/02

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Keywords

  • METIS-210853
  • IR-43865

Cite this

Verwoerd, M. H. A., Meinsma, G., & de Vries, T. J. A. (2002). On the use of noncausal LTI operators in iterative learning control. In Proceedings of the 41st IEEE Conference on Decision and Control (pp. 3362-3366). Las Vegas, Nevada (USA): IEEE. https://doi.org/10.1109/CDC.2002.1184394
Verwoerd, M.H.A. ; Meinsma, Gjerrit ; de Vries, Theodorus J.A. / On the use of noncausal LTI operators in iterative learning control. Proceedings of the 41st IEEE Conference on Decision and Control. Las Vegas, Nevada (USA) : IEEE, 2002. pp. 3362-3366
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Verwoerd, MHA, Meinsma, G & de Vries, TJA 2002, On the use of noncausal LTI operators in iterative learning control. in Proceedings of the 41st IEEE Conference on Decision and Control. IEEE, Las Vegas, Nevada (USA), pp. 3362-3366, 41st IEEE Conference on Decision and Control, CDC 2002, Las Vegas, United States, 10/12/02. https://doi.org/10.1109/CDC.2002.1184394

On the use of noncausal LTI operators in iterative learning control. / Verwoerd, M.H.A.; Meinsma, Gjerrit; de Vries, Theodorus J.A.

Proceedings of the 41st IEEE Conference on Decision and Control. Las Vegas, Nevada (USA) : IEEE, 2002. p. 3362-3366.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - This paper demonstrates the use of noncausal operators in iterative learning control (ILC). First, it is shown that for a particular class of plants (having unstable zeros), perfect tracking can only be achieved by using noncausal operators. Then it is shown that with any converging algorithm (both causal and noncausal) we can associate a particular feedback controller. For causal algorithms this controller can be shown to be internally stabilizing. In the noncausal case, however, the associated controller is found to be generally destabilizing which implies that the existing notion of an equivalent controller for causal ILC does not extend to noncausal ILC.

AB - This paper demonstrates the use of noncausal operators in iterative learning control (ILC). First, it is shown that for a particular class of plants (having unstable zeros), perfect tracking can only be achieved by using noncausal operators. Then it is shown that with any converging algorithm (both causal and noncausal) we can associate a particular feedback controller. For causal algorithms this controller can be shown to be internally stabilizing. In the noncausal case, however, the associated controller is found to be generally destabilizing which implies that the existing notion of an equivalent controller for causal ILC does not extend to noncausal ILC.

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Verwoerd MHA, Meinsma G, de Vries TJA. On the use of noncausal LTI operators in iterative learning control. In Proceedings of the 41st IEEE Conference on Decision and Control. Las Vegas, Nevada (USA): IEEE. 2002. p. 3362-3366 https://doi.org/10.1109/CDC.2002.1184394