Adjoint-type Iterative Learning Control for Nonlinear Nonminimum Phase System —Application to a planar model of a helicopter—

Ryoji Ogoshi; Takuya Sogo; Norihiko Adachi

doi:10.11499/sicep.2002.0.340.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.340.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Adjoint-type Iterative Learning Control for Nonlinear Nonminimum Phase System

—Application to a planar model of a helicopter—

Ryoji Ogoshi, Takuya Sogo, Norihiko Adachi

Author information

Keywords: Iterative Learning Control, Nonminimum Phase System

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 340

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Abstract

Iterative learning control (ILC) obtains a desired input that exactly generates the desired output through repetitions of the same tasks. In this paper, a numerical simulation of the adjoint-type ILC, which can obtain desired inputs even if the objective system is that of a nonminimum phase, is carried out for a planar model of a helicopter.

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