An Extended PID Type Iterative Learning Control

作者：Madady Ali^*

来源：International Journal of Control Automation and Systems, 2013, 11(3): 470-481.

DOI：10.1007/s12555-012-0350-4

• Extended PID
• iterative learning control
• monotonic convergence
• optimal design

This paper presents a new iterative learning control (ILC) for discrete-time single-input single-output (SISO) linear time-invariant (LTI) systems. To establish this ILC, the input of the controlled system is modified by using a novel four-parametric algorithm. This algorithm is called the extended proportional plus integral and derivative (EPID) type, since by eliminating the fourth parameter of it one would get to the PID type ILC, therefore PID type ILC is a special case of it. The convergence of the proposed ILC is analyzed and an optimal method is presented to determine its parameters. It is shown that the given ILC has a better performance than the PID-type one. Three illustrative examples are included to demonstrate the effectiveness and the preference of the presented ILC.

• 出版日期2013-6