标题：A Frequency Analysis of Time Delayed Iterative Learning Control System
作者：Zhai Lun; Tian Guohui; Zhou Fengyu; Li Yan
作者机构：[Zhai Lun; Tian Guohui; Zhou Fengyu; Li Yan] Shandong Univ, Sch Control Sci & Engn, Serv Robots Lab, Jinan 250061, Shandong, Peoples R China.
会议名称：32nd Chinese Control Conference (CCC)
会议日期：JUL 26-28, 2013
来源：2013 32ND CHINESE CONTROL CONFERENCE (CCC)
关键词：Iterative Learning Control; Feedback; Feedforward; Convergence; Condition; Convergence Speed
摘要：In this paper, two different iterative learning control schemes are applied to the time delayed systems. The analysis of the convergence performance including the convergence condition and the convergence speed is discussed. The convergence conditions of the ILC scheme are derived in the frequency domain and the design and optimization of learning gains can profit from various subspace and coefficient identification methods, which guarantee the convergence of the control strategy monotonically, and can be adjusted to improve the convergence speed to a large extent. A number of simulation results are provided to validate the conclusions.