Iterative Learning Control for Linear Motor Motion System

Abstract

Linear motors have some inherent nonlinear factors, and these nonlinear factors make it a challenging task to control the linear motor motion system precisely. Iterative learning control can construct current control input with the help of the historical control information, and it does not depend on detailed model of the controlled system. Based on the thought of iterative learning control and PID control, an iterative learning controller incorporated with PID was designed and applied to linear motor motion systems. PID controller was used as a feedback controller to stabilize the system, and the ILC controller was used as a feedforward controller to improve the control precision. Simulation results show that a high performance controller is designed according to the iterative learning control theory. It can also compensate the nonlinearity of the system.