A new update rule to design Iterative Learning Controller using current cycle parameters and system dynamics

摘要

We propose a new Iterative Learning Controller (ILC) algorithm based on M. Pandit and D. Andress [3] and Niels Johannes Maria Bosch [10] considering the current cycle parameters and some part of the system dynamics. We have selected a Single Inverted Pendulum — which is multivariable and highly unstable system, as a control object to demonstrate the effectiveness of the proposed ILC algorithm. The test results of proposed ILC algorithm are compared with the other implementations such as LQR (non-learning), Lifted ILC and ILC algorithm suggested by M. Pandit and D. Andress [3]. The results show that the proposed algorithm gives much better control as compared to LQR, Lifted ILC algorithm and there is a significant improvement in the settling time as compared to ILC algorithm given by M. Pandit and D. Andress [3].