Analysis and experiments of iterative learning-control system with uncertain dynamics

Kuei Shu Hsu, Ming Guo Her, Ming-Yang Cheng

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


An iterative error compensation approach is proposed in this article to improve the accuracies of high speed, computer-controlled machining processes. It is well known that the high-speed computer-numerically-controlled (CNC) machines are extremely useful in terms of manufacturing mass-produced parts. The proposed method uses an iterative learning technique that adopts the servo commands and cutting error experienced in previous maneuvers as references to current compensative actions. Moreover, non-repetitive disturbances and nonlinear dynamics of the cutting processes, and servo systems of the CNC machine that greatly affect the convergence of the learning-control systems were also studied in this research. State feedback and output feedback techniques were adopted in the proposed controller design. In addition to the stability analysis, a 1 degree-of-freedom servo positioning system is constructed to evaluate the performance of our proposed learning control approach. Both the simulation and experimental results verify the effectiveness of our approach.

Original languageEnglish
Pages (from-to)1119-1129
Number of pages11
JournalInternational Journal of Advanced Manufacturing Technology
Issue number11-12
Publication statusPublished - 2005 Jun 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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