Iterative Learning Control with Advanced Output Data for an Unknown Number of Non-minimum Phase Zeros

抄録

This letter investigates an iterative learning control with advanced output data (ADILC) scheme for non-minimum phase (NMP) systems when the number of NMP zeros is unknown. ADILC has a simple learning structure that can be applied to both minimum phase and NMP systems. However, in the latter case, it is assumed that the number of NMP zeros is already known. In this paper, we propose an ADILC scheme in which the number of NMP zeros is unknown. Based on input-to-output mapping, the learning starts from the relative degree. When the input becomes larger than a certain upper bound, we redesign the input update law which consists of the relative degree and the estimated value for the number of NMP zeros.