A Q, L Factorization of Norm-Optimal Iterative Learning Control
Abstract
In this paper we consider the Norm-Optimal Iterative Learning Control (ILC) problem for discrete-time linear multi-input, multi-output systems. The solution to this problem is well known and naturally factors into a form with a filter on the previous control, Lu and a filter on the previous error, Le. We show that this solution can always be factored into a Q,L form where Q filters the previous control and QL filters the previous error. This latter form is popularized with frequency domain ILC designs, and this common factorization suggests some general relationships between Norm-Optimal and frequency domain design, which are explored. Although the Q,L factorization is well known for some special cases, the results here are general and include differently dimensioned control and observation windows.
Recommended Citation
D. A. Bristow and B. Hency, "A Q, L Factorization of Norm-Optimal Iterative Learning Control," Proceedings of the 47th IEEE Conference on Decision and Control (2008, Coral Beach, FL), Institute of Electrical and Electronics Engineers (IEEE), Dec 2008.
Meeting Name
47th IEEE Conference on Decision and Control (2008: Dec. 9-11, Coral Beach, FL)
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Iterative Learning Control; Optimal Control
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2008 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
11 Dec 2008
