## Combined ILC and Disturbance Observer for the Rejection of Near-Repetitive Disturbances, With Application to Excavation

- Guilherme J. Maeda, Ian R. Manchester, David C. Rye
- IEEE Transactions on Control Systems Technology
- 2015

- Published 2010 in Proceedings of the 2010 American Control…

This paper proposes a lifted domain ILC design technique for repetitive processes with significant non-repetitive disturbances. The learning law is based on the minimization of the expected value of a cost function (i.e., error norm) at each iteration. The derived learning law is iteration-varying and depends on the ratio of the covariance of non-repetitive… CONTINUE READING

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