Disturbance aspects of iterative learning control
Disturbance aspects of iterative learning control (ILC) are considered. By using a linear framework it is possible to investigate the influence of the disturbances in the frequency domain. The effects of the design filters in the ILC algorithm on the disturbance properties can then be analyzed. The analysis is supported by simulations and experiments. (C) 2001 Elsevier Science Ltd. All rights reserved.
iterative learning control robot control disturbance effects