Plenary Lecture

Iterative Learning Control, a Linear Repetitive Process Approach - Basics and Applications

Professor Krzysztof Galkowski
Institute of Control and Computation Engineering
University of Zielona Gora

Abstract: Iterative learning control (ILC) is a technique for controlling systems operating in a repetitive (or pass-to-pass) mode with the requirement that a reference trajectory defined over a finite interval is followed to a high precision. Examples of such systems include robotic manipulators that are required to repeat a given task, chemical batch processes or, more generally, the class of tracking systems. Since the original work of Arimoto in the mid 1980s, the general area of ILC has been the subject of intense research effort. In ILC, a major objective is to achieve convergence of the trial-to-trial error and often this has been treated as the only one that needs to be considered, but then, it is possible that this could lead to unsatisfactory performance along the trial. These can be avoided when noting the clear repetitive (two-dimensional) structure of the ILC process. This lecture presents basic ideas of ILC based on the repetitive process theory and discuss its applications and future directions. Particularly, a guaranteed cost control techniques are adopted to obtain the possible best solution and robustnes is taken into account. Also, Integral and feedforward action is adopted to ILC to improve its dynamical behavior and robustnes against step disturbances. Experimentally/computer simulation verified applications to control of electrical motors (PMSM)/ladder circuits are presented.

Brief Biography of the Speaker: Krzysztof GaƂkowski is The Professor of Technical Sciences in University of Zielona Gora, Institute of Control and Computation Engineering and also in Nicolaus Copernicus University in Torun, Poland, Institute of Physics. He is a member of the editorial board of Multidimensional Systems and Signal Processing (Springer) and International Journal of Control and Ass. Ed. of IET Control Theory and Applications. His research interests include multidimensional (nD) systems and repetitve processes - theory and applications, control and, in particular, Iterative Learning Control. He is an co-author/editor of 4 monographs/books, a few special issues of leading international journals, as e.g. International Journal of Control, Multidimensional Systems and Signal Processing, or Asian Journal of Control, and over 110 papers in leading peer reviewed journals and about 200 in the proceedings of international conferences. He is a co-organiser (with Eric Rogers etal) a series of international Workshops on multidimensional systems (NDS). He is a visitng professor in the School of Electronics and Computer Science, University of Southampton, UK, was three times a Gerhard Mercator guest professor, funded by DFG, in The University of Wuppertal, Germany (09.2004-08.2005), (10.2006-09.2007) and (03.2011-02.2012). During the period 2011-2014 he has been a Chair Professor in East China University of Science and Technology in Shanghai.

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