ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS

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

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Paper

ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS

Topics: Machine Learning in Control Applications; Mechatronic Systems

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 141-146, 2005 , Barcelona, Spain

Authors: C. T. Freeman ; P. L. Lewin and E. Rogers

Affiliation: University of Southampton, School of Electronics and Computer Science, United Kingdom

Keyword(s): Learning control, non-minimum phase systems, optimisation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Mechatronic Systems

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.

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Paper citation in several formats:

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 4: ICINCO; ISBN 972-8865-29-5; ISSN 2184-2809, SciTePress, pages 141-146. DOI: 10.5220/0001172601410146

@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 4: ICINCO},
year={2005},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172601410146},
isbn={972-8865-29-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - ROBUST ILC DESIGN USING MÖBIUS TRANSFORMATIONS
SN - 972-8865-29-5
IS - 2184-2809
AU - T. Freeman, C.
AU - L. Lewin, P.
AU - Rogers, E.
PY - 2005
SP - 141
EP - 146
DO - 10.5220/0001172601410146
PB - SciTePress