Learning control is a very effective approach for tracking control in processes occurring repetitively over a fixed interval of time. In this paper a robust learning algorithm is proposed for a generic family of nonlinear, nonminimum phase plants with disturbances and initialization error. The “stable-inversion” method of Devasia, Chen and Paden is applied to develop a learning controller for linear nonminimum phase plants. This is adapted to accommodate a more general class of nonlinear plants. The bounds on the asymptotic error for the learned input are exhibited via a concise proof. Simulation studies demonstrate that in the absence of input disturbances, perfect tracking of the desired trajectory is achieved for nonlinear nonminimum phase plants. Further, in the presence of random disturbances, the tracking error converges to a neighborhood of zero. A bound on the tracking error is derived which is a continuous function of the bound on the disturbance. It is also observed that perfect tracking of the desired trajectory is achieved if the input disturbance is the same at every iteration.
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March 2001
Technical Papers
Iterative Learning Control for Nonlinear Nonminimum Phase Plants1
Jayati Ghosh,
Jayati Ghosh
Agilent Technologies Inc., Bio-Research Solutions Unit, Santa Clara, CA 95051
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Brad Paden
Brad Paden
Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, CA 93106
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Jayati Ghosh
Agilent Technologies Inc., Bio-Research Solutions Unit, Santa Clara, CA 95051
Brad Paden
Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, CA 93106
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division December 1, 1998. Associate Editor: S. Nair.
J. Dyn. Sys., Meas., Control. Mar 2001, 123(1): 21-30 (10 pages)
Published Online: December 1, 1998
Article history
Received:
December 1, 1998
Citation
Ghosh, J., and Paden, B. (December 1, 1998). "Iterative Learning Control for Nonlinear Nonminimum Phase Plants." ASME. J. Dyn. Sys., Meas., Control. March 2001; 123(1): 21–30. https://doi.org/10.1115/1.1341200
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