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TECHNICAL PAPERS

Iterative Learning Control for Nonlinear Nonminimum Phase Plants

[+] Author and Article Information
Jayati Ghosh

Agilent Technologies Inc., Bio-Research Solutions Unit, Santa Clara, CA 95051e-mail: jayati-ghosh@agilent.com

Brad Paden

Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, CA 93106e-mail: paden@engineering.ucsb.edu

J. Dyn. Sys., Meas., Control 123(1), 21-30 (Dec 01, 1998) (10 pages) doi:10.1115/1.1341200 History: Received December 01, 1998
Copyright © 2001 by ASME
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References

Figures

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Iterative learning control for linear plants. (a) Update law is given by (9); (b) Update law is given by (10). LC: learning controller, T : truncation operator.
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Nonlinear learning control system. DN|0−1 is the learning controller.
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Tracking of nonlinear nonminimum phase system without input disturbance after 3 iterations
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Learning curve to show convergence
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Tracking of the same system in presence of input disturbance after 3 iterations
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Tracking of nonlinear nonminimum phase system with repetitive disturbance after 5 iterations

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