الفهرس 
Previous Work in Conventional ILCOnly 14 pages are availabe for public view
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Abstract
SUMMARY
In this chapter, a brief background about mechatronics systems has been presented by starting with the definition and key elements of mechatronics systems, providing some examples about it, introducing the improved and new functions gained using mechatronics system, giving some explanation about the integration of components (Hardware) and through the integration of information processing (software), providing a comparison between the mechatronics systems and conventional electro-mechanical systems, introducing to mechatronics systems control and some previous work is presented, and finally, one of the most popular mechatronics systems, X-Y table in CNC milling machines, is presented in details by providing the model of the DC motor which is used in the driving of each axis of the X-Y table. Some nonlinearities that may occurs in DC motors have been presented in this chapter. In the next chapter, the iterative learning control (ILC) will be presented and it will be applied to two DC motors used for X-axis and Y-axis.
A general background of iterative leaning control schemes is presented in this chapter. The relation between some control paradigms such as feedback control, adaptive control, robust control, optimal control, and intelligent control and ILC is introduced to show the benefits of ILC. ILC was applied to the X-Y table of CNC machine system. It is assessed by some simulation tasks which including load disturbance, variable friction, deadzone nonlinearity, saturation nonlinearity, step change for two types of reference inputs, step input and circular contour input. Simulation results show that the classical PID-type ILC is able to force the system to track the reference input in some cases and can not do that for some other cases, so this mean that the classical PID-type ILC may be not an acceptable controller for minimizing the effect of disturbance and may be not able to compensate the effects of some nonlinearities that may occur in the DC motor as a system. So it is desirable to find a solution to overcome the drawbacks of the classical PID-type ILC. Fuzzy iterative leaning control (FILC) will be developed and presented in the next chapter to merge fuzzy control with ILC control as a try to solve the classical PID-type ILC problems .