Iterative learning control with initial rectifying action

This paper addresses the initial shift problem in iterative learning control with system relative degree. The tracking error caused by nonzero initial shift is detected when applying a conventional learning algorithm. Finite initial rectifying action is introduced in the learning algorithm and is shown e ective in the improvement of tracking performance, in particular robustness with respect to variable initial shifts. The uniform convergence of the output trajectory to a desired one jointed smoothly with a speci

• Type: Journal
• Year: 2002
• Where: AUTOMATICA
• Authors: Mingxuan Sun, Danwei Wang
• Keywords: AUTOMATICA 2002, Initial Shift, Initial Shift Problem, Nonzero Initial Shift