Jeroen van de Wijdeven

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In this paper, we present a new approach for reduction of residual vibrations in point-to-point motions, based on iterative learning control (ILC). The approach is to add a signal to the command input during the point-to-point motion, chosen such as to compensate for the residual vibration. A special form of ILC with separate actuation and observation time(More)
In this paper, we study MIMO Iterative Learning Control (ILC) and its robustness against model uncertainty. Although it is argued that, so-called, norm optimal ILC controllers have some inherent robustness, not many results are available that can make quantitative statements about the allowable model uncertainty. In this paper, we derive sufficient(More)
In this paper, we consider residual vibration suppression in flexible structures performing a point-to-point motion, based on Hankel ILC. Initially, design freedom in Hankel ILC is discussed, including different choices for the actuation time window and the observation time window. Subsequently, a three input three output flexible beam is presented as an(More)
In this paper, we present a novel iterative learning control (ILC) strategy that is robust against model uncertainty, as given by a system model and an additive uncertainty bound. The design methodology hinges on H<sub>infin</sub> optimisation, however, the procedure is modified such that the ILC controller is noncausal and inherently acts on a finite time(More)
Iterative Learning Control (ILC) enables high tracking performance of batch repetitive processes. Common ILC approaches resort to discrete time system representations and hence are not able to guarantee good intersample behavior in case the underlying system evolves in continuous time. The aim of this paper is to explicitly deal with the intersample(More)
In this paper, we analyze the trial domain stabilizability of iterative learning control (ILC) for linear time varying systems. We prove that a system can only be made asymptotically stable in trial domain if the number of trial domain integrators does not exceed the rank of the convolutive i/o system map. Based on this statement, a general ILC control(More)
Optical discs, including Compact Discs (CDs), Digital Versatile Discs (DVDs), and Blu-ray Discs (BDs), can get cracked during storage and usage. Such cracks commonly lead to discontinuities in the data track, potentially preventing reading of the data on the disc. The aim of the present paper is to improve tracking performance of the optical disc drive in(More)
This paper focusses on shape changes of tensegrity structures. An optimization method is developed for design of a reference trajectory for shape changes of an arbitrary tensegrity structure. By defining an objective and constraints related to the shape change, constrained optimization is used to determine the reference trajectory. To improve suppression of(More)
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