Using Singular Value to Set Output Disturbance Limits to Feedback ILC Control

Abstract

Iterative Learning Control is an effective way of controlling the errors which act directly on the repetitive system. The stability of the system is the main objective in designing. The Small Gain Theorem is used in the design process of State Feedback ILC. The feedback controller along with the Iterative Learning Control adds an advantage in producing a system with minimal error. The past error and current error feedback Iterative control system are studied with reference to the region of disturbance at the output. This paper mainly focuses on comparing the region of disturbance at the output end. The past error feed forward and current error feedback systems are developed on the singular values. Hence, we use the singular values to set an output disturbance limit for the past error and current error feedback ILC system. Thus, we obtain a result of past error feed forward performing better than the current error feedback system. This implies greater region of disturbance suppression to past error feed forward than the other.