Computer Science

Computer Science ›› 2019, Vol. 46 ›› Issue (2): 327-332.doi: 10.11896/j.issn.1002-137X.2019.02.050

• Interdiscipline & Frontier • Previous Articles    

Study of Optimal Learning Law and Simplified Learning Law of Iterative Learning Control in Frequency Domain

LIU Jia-cun1, ZHAO Gui-yan1, MEI Qi-xiang2   

  1. Faculty of Electrics and Information Engineering,Guangdong Ocean University,Zhanjiang,Guangdong 524088,China1
    Faculty of Mathematics and Computer Science,Guangdong Ocean University,Zhanjiang,Guangdong 524088,China2
  • Received:2017-12-19 Online:2019-02-25 Published:2019-02-25

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Abstract: To obtain the optimal learning law and simplified learning law which is convenient for engineering implementation of iterative learning control in LTI MIMO system,this paper carried out some studies in frequency domain.Based on the transfer function matrix of system,the time-domain error is converted to frequency-domain error according to Parseval theorem,and the general convergent condition of learning law can be obtained by using matrix properties of Jordan canonical form.The optimal learning law which needs only one time iterative computation with fastest convergence rate can be got by analyzing the aforementioned conditions.Since the higher derivative is not conducive to eliminating noise,the reduced order of derivative was discussed to get a simplified learning law.Simulation results show that the optimal and simplified learning law is effective.

Key words: Convergent rate, Frequency domain, Iterative learning control, Optimal learning law

CLC Number: 

  • TP13
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