TY - GEN

T1 - An improved method for calculating iterative learning control convergence rate

AU - Barton, Kira

AU - Alleyne, Andrew

AU - Bristow, Doug

PY - 2009

Y1 - 2009

N2 - In Iterative Learning Control (ILC). the lifted system is often used in design and analysis to determine convergence rate of the learning algorithm. Computation of the convergence rate in the lifted setting requires construction of large NxN matrices, where N is the number of data points in an iteration. The convergece rate computation is O(N2) and is typically limited to short iteration lengths because of computational memory constraints. In this article, we present an alternative method for calculating the convergence rate without the need of large matrix calculations. This method uses the implicitly restarted Arnoldi method and dynamic simulations to calculate the ILC norm, reducing the calculatin to O(N). In addition to faster computation, we are able to calculate the convergence rate for long iteration lengths. This method is presented for multi-input multi-output, linear time-varying discrete-time systems.

AB - In Iterative Learning Control (ILC). the lifted system is often used in design and analysis to determine convergence rate of the learning algorithm. Computation of the convergence rate in the lifted setting requires construction of large NxN matrices, where N is the number of data points in an iteration. The convergece rate computation is O(N2) and is typically limited to short iteration lengths because of computational memory constraints. In this article, we present an alternative method for calculating the convergence rate without the need of large matrix calculations. This method uses the implicitly restarted Arnoldi method and dynamic simulations to calculate the ILC norm, reducing the calculatin to O(N). In addition to faster computation, we are able to calculate the convergence rate for long iteration lengths. This method is presented for multi-input multi-output, linear time-varying discrete-time systems.

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M3 - Conference contribution

AN - SCOPUS:70349908133

SN - 9780791843352

T3 - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

SP - 97

EP - 104

BT - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

T2 - 2008 ASME Dynamic Systems and Control Conference, DSCC 2008

Y2 - 20 October 2008 through 22 October 2008

ER -