Residual vibration suppression using Hankel iterative learning control

  title={Residual vibration suppression using Hankel iterative learning control},
  author={Jeroen van de Wijdeven and O. Bosgra},
  journal={2006 American Control Conference},
  pages={6 pp.-}
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 windows is shown to find the required input. Optimal suppression is obtained by iteratively updating the command signal, using the measured… CONTINUE READING
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