On interval tracking performance evaluation and practical varying sampling ILC

Yun Xu, Dong Shen and Youqing Wang

International Journal of Systems Science, 2017, vol. 48, issue 8, 1624-1634

Abstract: This paperconsiders the evaluation of interval tracking error for sampled control performance and an associated sampling technique to enhance the tracking performance. The upper bounds of the tracking error profile of arbitrary sample interval for both the linear system and nonlinear system are first given. A practical sampled-data iterative learning control with varying sampling rates is proposed to ensure a prior given tolerant tracking error. In this control strategy, the inter-sample behaviour is checked to determine which intervals are not satisfactory when the given tracking performance at-sample time instants is satisfied, and then the sampling frequency for such intervals is increased. Both at-sample and inter-sample tracking performance are satisfied after enough learning iterations. Two examples are simulated to demonstrate the effectiveness of the proposed sampling strategy.

Date: 2017
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DOI: 10.1080/00207721.2016.1277409

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