Iterative Learning Control of a Discrete-Time System under Delay along the Sample Trajectory and Input Saturation

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Abstract

This paper considers a linear discrete-time system operating in a repetitive mode to track a reference trajectory with a required accuracy. The control variable has a delay along the sample trajectory, and saturation-type constraints are imposed. We introduce a new method for designing an iterative learning control law that depends on the delay and ensures the required accuracy of tracking. A numerical example demonstrates the effectiveness of this method.

About the authors

P. V Pakshin

Arzamas Polytechnic Institute of Alekseev Nizhny Novgorod State Technical University

Email: pakshinpv@gmail.com
Arzamas, Nizhny Novgorod oblast, Russia

Yu. P Emel'yanova

Arzamas Polytechnic Institute of Alekseev Nizhny Novgorod State Technical University

Author for correspondence.
Email: emelianovajulia@gmail.com
Arzamas, Nizhny Novgorod oblast, Russia

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