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Recently a systematic method was presented for the generation of whole families of “Fixed Point Transformations” that can be used in nonlinear adaptive control of “Single Input - Single Output (SISO)” systems as alternatives of Lyapunov's “direct method”. In the present paper further development of this alternative method is considered. It consists in the generalization of the method for “Multiple...
This paper studies optimal design of Iterative Learning (ILC) and Repetitive Control (RC) for linear, cycle invariant systems. The optimization is based on minimizing the 2-norm of time signals on a repeating time interval. In contrast to weighting the error and actuating variable, as generally proposed, a different interpretation of the weighting is suggested. This is based on the similarity of 2-norm-optimal...
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