Design the Bandwidth of Zero-Phase Filter of Iterative Learning Controller by Improved Particle Swarm Optimization

  • Shu-Ting Li
  • Jen-Ai Chao
  • Yi-Hao Li
  • Yi-Cheng Huang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 234)


This chapter utilized the IPSO technique with bounded constraints for adjusting the gains of PID controller, ILC controller, and the bandwidth of zero-phase Butterworth filter. Simulation results show that IPSO-ILC-PID controller will have chance of producing high frequencies in the error signals when the filter bandwidth is fixed for every repetition. Since the conventional ILC iterative learning process has the potential to excite rich frequency contents and try to learn the error signals, however, the learnable and unlearnable error signals should be separated for bettering control process. Thus, the adaptive bandwidth of a zero-phase filter in ILC-PID controller with IPSO tuning characteristic is proposed here. Simulation results show that the new controller can cancel the errors as repetition goes. The frequency response of the error signals is analyzed by the EMD and the HHT method. Errors are reduced and validated by good ILC learning with adaptive filter bandwidth.


Improved particle swarm optimization PID controller ILC controller Linear synchronous motor Zero-phase butterworth low-pass filter 



This work is supported in part by NSC 101-2221-E-018-010. The authors are much appreciated.


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Copyright information

© Springer Science+Business Media New York 2013

Authors and Affiliations

  • Shu-Ting Li
    • 1
  • Jen-Ai Chao
    • 2
  • Yi-Hao Li
    • 1
  • Yi-Cheng Huang
    • 1
  1. 1.Department of Mechatronics EngineeringNational Changhua University of EducationChanghuaTaiwan
  2. 2.Chienkuo Technology UniversityChanghuaTaiwan

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