where [mathematical expression not reproducible] is initial given control input, integer N [greater than or equal to] 1 is the order of the iterative learning control scheme, and 0 < [mu < 1 is a weighting parameter to prevent the large fluctuation of the input at the beginning of the iterative operation. The term [mu] may be allowed to vary with the iteration and let it fixed for simplicity in this paper.
Furthermore, if [mu], [parallel] [delta][z.sup.k](0)[parallel], and [b.sub.w] tend to zero, the bound of tracking errors also tends to zero through the iterative operations of the iterative learning control algorithm.
In this study, an iterative operation is proposed to overcome this problem.
If pixel with local minimum gray level exists in image of the dilation result, according to the iterative operation shown in Figure 10, erosion operation will not be implemented.
For range image of laser points generated from every selected view angle, iterative operation presented in Section 2.5 was implemented to find out the suitable scale of structure element.
The second advantage is as follows: since a novel iterative operation of mathematical morphology was introduced in the proposed method, range images generated from the selected view angles for the "fandisk" and "oil pump" models by using the proposed method are more satisfactory and more consistent with the reality than range images generated from the selected view angle for the models by using the method based on single view angle and interpolation operation.
Prepositive and the subsequent state of the service S in figure are respectively pre and post library, [[mu].sub.n] represents the service S makes iterative operation
, the operating times is n.
Iterative learning control (ILC) is able to refine the control signals at current iteration by utilizing the input and output (I/O) data of previous iterative operations
. As a direct result, the tracking error accuracy is improved as the number of repetitions increases.
Therefore, the method of incremental stress-strain constitutive equations combined with iterative schemes is widely used, but the iterative operations
will inevitably cause the effective stress to deviate from the yield surface, that is, the "drift" phenomenon.