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TECHNICAL BRIEFS

Pseudo-Inverse Based Iterative Learning Control for Linear Nonminimum Phase Plants with Unmodeled Dynamics*

[+] Author and Article Information
Jayati Ghosh

Agilent Technologies Inc., Bio-Research Solutions, 5301 Stevens Creek Blvd., Santa Clara, CA 95051 e-mail: jayati_ghosh@agilent.com

Brad Paden

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

J. Dyn. Sys., Meas., Control 126(3), 661-665 (Dec 03, 2004) (5 pages) doi:10.1115/1.1789540 History: Received December 26, 2003; Online December 03, 2004
Copyright © 2004 by ASME
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References

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Bondi,  P., Casalino,  G., and Gambardella,  L., 1988, “On the Iterative Learning Control Theory for Robotic Manipulators,” IEEE J. Rob. Autom., 4, pp. 14–21.
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Ghosh, J., and Paden, B., 1999, “A Pseudo-Inverse Based Iterative Learning Control for Nonlinear Plants With Disturbances,” in Proc. of 38th Conference on Decision and Control.
Devasia,  S., Chen,  D., and Paden,  B., 1996, “Nonlinear Inversion-Based Output Tracking,” IEEE Trans. Autom. Control, AC-41, pp. 930–942.
Green, M., and Limebeer, D. J. N., 1995, Linear Robust Control. Prentice Hall Information and System Sciences Series, Prentice Hall.
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Desoer,  C. A., and Whalen,  B. H., 1963, “A Note on Pseudoinverses,” J. Soc. Ind. Appl. Math., 11, pp. 442–447.

Figures

Grahic Jump Location
Learning control system: (H) nominal plant model; (Δ) unmodeled dynamics, (γ) zero-phase filter; (LC) learning controller
Grahic Jump Location
Frequency responses (a) linear model H, (b) exact inverse H−1 and pseudo-inverse H†,α
Grahic Jump Location
Plot of the magnitude response of the nominal plant (solid line) and the plant uncertainty (dotted line)
Grahic Jump Location
Tracking with plant uncertainty and without filter γ(s) after five iterations
Grahic Jump Location
Tracking with plant uncertainty and with filter γ(s) after five iterations

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