Segmented compensation using compound iterative learning control on 2D system for linear motor

With consideration of two-dimensional (2D) nature of iterative learning control (ILC), the equivalence between the compound ILC and a special 2D system is investigated. On the basis of robust analysis and design methods are developed for a special 2D system, a new segmented compound ILC scheme based on the 2D state input and output feedback has been delivered which gives the solutions to the descriptions, analyses and compensation of linear motor disturbances on the compound ILC system. The effectiveness and good performances of the proposed ILC schemes not only illustrated by permanent magnet linear synchronous motor (PMLSM) simulation test on minimum disturbances along the time and iterative axis, but also shown in experiments that tracking position precision of PMLSM can be effectively improved by the scheme the experimental results.