Convergence Speed Analysis of Iterative Learning Control Approaches

Abstract

In this paper, the convergence speed of the different algorithm is analysed for non-linear dynamic system. Convergence speed is one of the most important factors in iterative learning control. A definition of convergence speed is introduced, which provides a rigorous and quantified evaluation criterion for comparing the convergence speed of different iterative learning control algorithm. The convergence speed relations of PD-type and D-type learning law, PI-type and P-type learning law are given. The results show that the convergence speed of the D-type learning law is faster than the PD-speed learning law, and the convergence speed of P-type learning law is faster than the PI-type learning law. Finally, numerical illustrations showed the validity of the proposed opinion.