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1、Repetitive Learning Control What is Repetitive Learning ControlA stable tracking under step input or a stable restraining under step disturbance for the servo-controlled systemintegrating compensatorA servosystem without stable error can be realizedRepetitive Learning Control What is Repetitive Lear
2、ning ControlA sinusoidal input with single frequency of vibration a mechanism transfer function 1simply set into the closed-loop system as the internal modelA periodic function generator with period L can be imagined as a time-lag unit shown in Figure 1Figure1:Periodic function generatorRepetitive L
3、earning Control What is Repetitive Learning ControlLet the initial function of the time-lag unit be),Objective function r(t)can be represented as:)Figure1:Periodic function generatorRepetitive Learning Control What is Repetitive Learning ControlThe periodic function generator is called the repetitiv
4、e compensatorThe control system that has set up the repetitive compensator is called the repetitive control system.G(s)ERRepetitive Compensator(PFG)+YFig2 Block diagram of repetitive control system.-=Repetitive Learning Control The Difference between Repetitive Learning Control andIterative ControlR
5、epetitive control has a closed relation with the iterative control in their control mode,and use the error function to revive the next input.Essential differences:1.Repetitive control is constructed in a complete closed-loop system and goes in the continuous model;iterative control is independent al
6、ways,Repetitive Learning Control The Difference between Repetitive Learning Control andIterative Control2.The convergent conditions for the two controls are different and are defined in different ways.3.For iterative control,a deviation of the error is introduced into the revived expression of the c
7、ontrol input.4.Iterative control can deal with nonlinear systems for which the control input is added linearly.Repetitive Learning Control TheApplication of Repetitive Learning ControlRepetitive control has its limitation in application.It has been used in the servocontrol of a d.c.motor,Repetitive Learning Control TheApplication of Repetitive Learning Controlthe voltage inverter control,the trajectory control of robot manipulatorWhat is the key of Repetitive learning control?What kind of problem is the Repetitive learning control suitable for solving?Summary
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