Analysis of boundary effects in iterative learning control

Abstract

Boundary effects in iterative learning control (ILC) algorithms are considered in this article. ILC algorithms involve filtering of input and error signals over finite-time intervals, often using non-causal filters, and it is important that the boundary effects of the filtering operations are handled in an appropriate way. The topic is studied using both a proposed theoretical framework and simulations, and it is shown that the method for handling the boundary effects has impact on the stability and convergence properties of the ILC algorithm.

Keywords:

• iterative learning control
• boundary effects
• implementation
• convergence

Acknowledgements

This work was supported by Vinnova's Industry Excellence Centre LINK-SIC and the strategic research centre ELLIIT at Linköping University, which is gratefully acknowledged.