Iterative Learning Control of Hamiltonian Systems with Adjoint Systems

Abstract

This paper is concerned with iterative learning control of Hamiltonian systems, which is applicable to electro-mechanical systems. We propose a new learning control scheme based on the self-adjoint structure of the variational of those systems. This method dose not require precise information about target systems such as the physical parameters of those systems. And we demonstrate the effectiveness of the proposed method by experiments.