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—In this paper, the iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed , extending the earlier reviews presented by two of the authors. The papers includes a general introduction to ILC and a technical description of the methodology. The selected results are reviewed, and the ILC literature is(More)
—For fractional-order differentiator where is a real number, its discretization is a key step in digital implementation. Two discretization methods are presented. The first scheme is a direct re-cursive discretization of the Tustin operator. The second one is a direct discretization method using the Al-Alaoui operator via continued fraction expansion (CFE).(More)
In this paper we study ᐉth-order ͑ᐉ ജ 3͒ consensus algorithms, which generalize the existing first-order and second-order consensus algorithms in the literature. We show necessary and sufficient conditions under which each information variable and its higher-order derivatives converge to common values. We also present the idea of higher-order consensus with(More)
For many motion control applications spatial constraints are often more important than temporal constraints. In recent work, we have developed a spatial control strategy called the-controller for mobile robot applications. The control strategy is based solely on static path geometry with position (in space) feedback. Motivated by this idea, in this paper,(More)
Preface This monograph studies the design of robust, monotonically-convergent iterative learning controllers for discrete-time systems. Iterative learning control (ILC) is well-recognized as an efficient method that offers significant performance improvement for systems that operate in an iterative or repetitive fashion (e.g., robot arms in manufacturing or(More)
SUMMARY This paper presents a tutorial on iterative learning control (ILC) and repetitive control (RC) techniques in hard disk drive (HDD) industry for compensation of repeatable runouts (RRO). After each tutorial, an application example is given. For ILC, a simple filtering-free implementation for written-in RRO compensation is presented. For the RC part,(More)
A new tuning method for proportional-integral-derivative (PID) controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PID controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given frequency called the "tangent frequency" so that the(More)