Improving Performance of a Controller Designed Based on Fixed Point Theorem for Systems with Input Singularity

In this paper, performance of an iterative learning control system designed Based on Fixed Point Theorem in the presence of input singularity, which is incurred by the singularities of the system direct feed-through term, is improved. The improvement strategy is based on some conceptual rules. For improving the controller performance designed based on fixed point theorem, the initial value used in the theorem will be changed. Also, the forgetting factor used in the controller will be revised. Next, the new controller will be compared with other one that is one of the most serious of recent works by using a numerical example.

Keywords:

fixed point theorem , singularity , iterative learning control