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




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