THE FIRST-ORDER CHARACTERISTIC MODELS OF DYNAMIC SYSTEMS AND ADAPTIVE ITERATIVE LEARNING CONTROL OF LINEAR SERVO SYSTEMS

This paper presents the first-order time-varying difference equation,the characteristic model.Only two parameters are involved in the equation.The adaptive iterative learning control method is suggested to deal with the characteristic-model based control problem, where the learning identification algorithms with a forgetting factor are introduced to estimate the time-varying unknowns.For PMLSM servo-systems,in this paper,an adaptive iterative learning control scheme is proposed based on the LQ optimal control strategy.Numerical and expereiment results are presented to demonstrate effectiveness of the control scheme.