| Title |
A Study on the Convergence Condition of ILC for Linear Discrete Time Nonminimum Phase Systems |
| Authors |
배성한(Bae, Sung-Han) ; 안현식(Ahn, Hyun-Sik) ; 정구민(Jeong, Gu-Min) |
| Keywords |
Iterative learning control ; Nonminimum phase system ; Convergence condition ; Impulse response |
| Abstract |
This paper investigates the convergence condition of ADILC(iterative learning control with advanced output data) for nonminimum phase systems. ADILC has simple learning structure including both minimum phase and nonminimum phase systems. However, for nonminimum phase systems, the overall time horizon must be considered in input update law. This makes the dimension of convergence condition matrix large. In this paper, a new sufficient condition is proposed to satisfy the convergence condition. Also, it has been shown that this sufficient condition can be satisfied although it is not full impulse response. |