Compensating flexibility in servo systems using iterative learning control

Cong Wang, Zining Wang, Cheng Peng, Yu Zhao, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


Industrial servo systems usually have high gear ratio reducers, which introduce flexibility and transmission errors. The consequential vibrations and compliance bring difficulties to many demanding applications. For applications in which the servos move repetitively, iterative learning control (ILC) is a powerful tool to improve performance. An intuitive implementation of ILC for flexibility compensation involves combining a torque ILC with a motor reference ILC. This paper explains why such a direct combination does not work well. A systematic synthesis method is introduced to address the coupling between torque learning and reference learning. In addition, a robust control method is proposed to address system uncertainties. The pro- posed method is demonstrated using a servo control example.

Original languageEnglish (US)
Title of host publicationMultiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857267
StatePublished - 2015
Externally publishedYes
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015


OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering


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