Abstract
The Iterative Learning Control (ILC) scheme is using the information in repetitive operation and progressive improving the tracking performance. The tracking error can be convergent to a small range within a finite time of learning. This thesis aims to perform the speed-tracking control of a flexible transport mechanism. An iterative learning control (ILC) scheme using wavelet transformation to enhance the learning process is presented in this thesis. The learning law updates the control profile through calculating the previous learning control profile, previous cycle error and current cycle error. After the output of control system is fedback, a wavelet-transform process is utilized in suppressing the un-learnable system dynamics. Because of the wavelet transformation process, the iterative learning scheme will exhibit better learning performance in the speed tracking of a flexible transport mechanism. Here, we setup a flexible transport mechanism through the modification of an Inkjet printer. A DSP-based control module with peripheral circuits was devised to perform several experiments. Both C-language and VHDL (VHSIC Hardware Description Language) were utilized to provide programmability. Experimental results further validate its efficacy.