This paper deals with the control of the ball position on a beam using hybrid arrangement of iterative learning control (ILC). If the process to be controlled is an under-actuated, unstable, nonlinear, and double integrating one, the conventional controllers are not able to control the system adequately. To overcome this problem, the ILC strategy is coupled in series with the conventional control scheme, thereby stabilizing the process with better convergence. The proposed hybrid LIC (HILC) strategy is embedded in the existing control loop. A real-time implementation of the proposed control technique is carried out and its performances are analyzed.

中文翻译：

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球梁系统迭代学习控制策略的混合排列

本文使用迭代学习控制 (ILC) 的混合布置来处理横梁上球位置的控制。如果要控制的过程是欠驱动、不稳定、非线性和双积分过程，则传统控制器无法充分控制系统。为了克服这个问题，ILC 策略与传统控制方案串联耦合，从而使过程稳定并具有更好的收敛性。所提出的混合 LIC (HILC) 策略嵌入到现有的控制回路中。对所提出的控制技术进行了实时实施，并对其性能进行了分析。