ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS

C. T. Freeman, P. L. Lewin, E. Rogers

Abstract

In this paper a general ILC algorithm is examined and it is found that the filters involved can be selected to satisfy frequency-wise uncertainty limits on the plant model. The probability of the plant model being at a given point in the uncertainty space is specified, and the filters are then chosen to maximise the convergence rate that can be expected in practice. The magnitude of the change in input over successive trials and the residual error have also been incorporated into the cost function. Experimental results are presented using a non-minimum phase test facility to show the effectiveness of the design method.

References

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Paper Citation


in Harvard Style

T. Freeman C., L. Lewin P. and Rogers E. (2005). ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 141-146. DOI: 10.5220/0001172601410146


in Bibtex Style

@conference{icinco05,
author={C. T. Freeman and P. L. Lewin and E. Rogers},
title={ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172601410146},
isbn={972-8865-29-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS
SN - 972-8865-29-5
AU - T. Freeman C.
AU - L. Lewin P.
AU - Rogers E.
PY - 2005
SP - 141
EP - 146
DO - 10.5220/0001172601410146