Iterative Learning Control of Flexible Arm with One Degree of Freedom

概要

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Iterative learning control can make the response of the system improve with the way of repetition trials of the control. However, when this control method is applied to a non-minimum phase system, there is the possibility of no improvement by the learning control. In this paper, we modify this learning control method and it is applied to vibration control of flexible arm system which is the non-minimum phase. Results show good improvement with the modified control algorithm.
公益社団法人計測自動制御学会の論文