Iterative Learning Control for Discrete Time Nonlinear Systems Based on an Objective Function

목적함수를 고려한 이산 비선형 시스템의 반복 학습 제어

  • Jeong, Gu-Min (Dept.of Electronics Engineering, Seoul National University) ;
  • Park, Chong-Ho (Dept.of Electronics Engineering, Seoul National University) ;
  • Jang, Tae-Jeong (Dept.of Electrical Electronics Information Communication Engineering, Kangwon National University)
  • 정구민 (서울대학교 전기공학부) ;
  • 최종호 (서울대학교 전기공학부) ;
  • 장태정 (강원대학교 전기전자정보통신공학부)
  • Published : 2001.01.01


In this paper, a new iterative learning control scheme for discrete time nonlinear systems is proposed based on an objective function consisting of the output error and input energy. The relationships between the proposed ILC and the optimal control are described. A new input update law is proposed and its convergence is proved under certain conditions. In this proposed update law, the inputs in the whole control horizon are updated at once considered as one large vector. Some illustrative examples are given to show the effectiveness of the proposed method.


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