Publications

---

Some of my publications are available in PostScript and PDF format below. You may also find an automatically generated list from the Linköping University publication database here.

Journal Papers

A framework for observer-based ILC
J. Wallén, M. Norrlöf, S. Gunnarsson
Asian Journal of Control, Special Issue on Iterative Learning Control, Vol 13, pp 3-14, 2011.

On reference governor in iterative learning control for dynamic systems with input saturation
Tan, Y., Xu, J.X., M. Norrlöf, Freeman, C.
Automatica, Vol 47, pp 2412-2419, 2011.

On the use of Accelerometers in Iterative Learning Control of a Flexible Robot Arm
S. Gunnarsson, M. Norrlöf, E. Rahic, M. Özbek
International Journal of Control, Vol 80, pp 363--373, 2007.

On the disturbance Properties of High Order Iterative Learning Control Algorithms
M. Norrlöf and S. Gunnarsson
Automatica, 42 (2006) 2031-2034.

A note on causal and CITE iterative learning control algorithms
M. Norrlöf and S. Gunnarsson
Automatica 41 (2005) 345-350.

Disturbance Rejection Using an ILC Algorithm with Iteration Varying Filter
M. Norrlöf
Asian Journal of Control, Vol 6, pp 432-438, 2004.

Experimental Comparison of Some Classical Iterative Learning Control Algorithms
M. Norrlöf and S. Gunnarsson
IEEE Transactions on Robotics and Automation, 2002, Vol 18, No 4, 636-641.

Time and frequency domain convergence properties in Iterative Learning Control
M. Norrlöf and S. Gunnarsson
International Journal of Control, 2002, Vol 75, No 14, 1114-1126.

Closed loop identification of an industrial robot containing flexibilities
M. Östring, S. Gunnarsson, and M. Norrlöf
Control Engineering Practice Vol. 11, No. 3, 291-300 (March 2003).

An adaptive Iterative Learning Control algorithm with experiments on an industrial robot
M. Norrlöf
IEEE Transactions on Robotics and Automation, 2002, Vol 18, No 2, 245-251.

On the Design of ILC Algorithms Using Optimization
S. Gunnarsson and M. Norrlöf
Automatica 37 (2001) 2011-2016.

Disturbance Aspects of Iterative Learning Control
M. Norrlöf and S. Gunnarsson
Engineering Applications of Artificial Intelligence, 14(1):87-94, 2001.

Conference Papers

ML Estimation of Process Noise Variance in Dynamic Systems
P. Axelsson, U. Orguner, F. Gustafsson, M. Norrlöf
Proceedings of 18th IFAC World Congress, pp 5609-5614, 2011.

Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot
J. Wallén, Dressler, I., Robertsson, A., M. Norrlöf, S. Gunnarsson
Proceedings of 18th IFAC World Congress, pp 992-998, 2011.

Convex Optimization approach for Time-Optimal Path Tracking of Robots with Speed Dependent Constraints
T. Ardeshiri, M. Norrlöf, J. Löfberg, A. Hansson
Proceedings of 18th IFAC World Congress, pp 14648-14653, 2011.

A framework for analysis of observer-based ILC
J. Wallén, M. Norrlöf, S. Gunnarsson
Proceedings of Reglermöte 2010, pp 1-7, 2010.

Extended Kalman Filter Applied to Industrial Manipulators
P. Axelsson, M. Norrlöf, E. Wernholt, F. Gustafsson
Proceedings of Reglermöte 2010, 2010.

Performance of ILC applied to a flexible mechanical system
J. Wallén, M. Norrlöf, S. Gunnarsson
Proceedings of European Control Conference (ECC) 2009, Budapest, Hungary, pp 1511-1516, 2009.

Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots
R. Henriksson, M. Norrlöf, S. Moberg, E. Wernholt, T. Schön
Proceedings of 48th IEEE Conference on Decision and Control, Shanghai, China, 2009.

ILC applied to a flexible two-link robot model using sensor-fusion-based estimates
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of 48th IEEE Conference on Decision and Control, Shanghai, China, 2009.

A framework for analysis of observer-based ILC
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of Symposium on Learning Control at IEEE CDC 2009, Shanghai, China, 2009.

Performance of ILC applied to a flexible mechanical system
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of European Control Conference 2009, Budapest, Hungary, 2009.

A New Concept for Motion Control of Industrial Robots
M. Björkman, T. Brogårdh, S. Hanssen, S.-E. Lindström, S. Moberg, M. Norrlöf
Proc. 17th IFAC World Congress, 2008.

Arm-side evaluation of ILC applied to a six-degrees-of-freedom industrial robot
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of 17th IFAC World Congress 2008, Seoul, Korea, pp 13450-13455, 2008.

Performance and robustness for ILC applied to flexible systems
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of Reglermöte 2008, pp 1-7, 2008.

Experimental evaluation of ILC applied to a six degrees-of-freedom industrial robot
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of European Control Conference 2007, Kos, Greece, 2007.

Accelerometer based evaluation of industrial robot kinematics derived in Maple
J. Wallén, M. Norrlöf, and S. Gunnarsson
Proceedings of Mekatronikmöte 2007, Lund, Sweden, 2007.

Derivation of kinematic relations for a robot using Maple
J. Wallén, S. Gunnarsson, and M. Norrlöf
Reglermöte 2006, Stockholm.

Position Estimation and Modeling of a Flexible Industrial Robot
R. Karlsson and M. Norrlöf
Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, 2005.

A gain scheduling control of nonlinear systems along a reference trajectory
A. Fujimori and S. Gunnarsson and M. Norrlöf
Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, 2005.

The CDIO initiative from an automatic control project course perspective
M. Enqvist, S. Gunnarsson, M. Norrlöf, E. Wernholt, and A. Hansson
Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, 2005.

Bayesian Position Estimation of an Industrial Robot using Multiple Sensors
R. Karlsson and M. Norrlöf
IEEE Conference on Control Applications, Taipei, Taiwan, September 2-4, 2004.

Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
S. Gunnarsson and M. Norrlöf
IEEE Conference on Control Applications, Taipei, Taiwan, September 2-4, 2004.

Sensor fusion for position estimation of an industrial robot
R. Karlsson and M. Norrlöf
Preprints Reglermöte 2004, Göteborg, May 25-27, 2004.

Path generation for industrial robots
M. Nyström and M. Norrlöf
Mekatronikmöte 2003, Göteborg, August 27-28, 2003.

Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
S. Gunnarsson, M. Norrlöf, E. Rahic, M. Özbek
Mekatronikmöte 2003, Göteborg, August 27-28, 2003.

Iteration varying filters in Iterative Learning Control
M. Norrlöf
4th Asian Control Conference (ASCC 2002), Singapore, September 25-27, 2002.

Some new results on Current Iteration Tracking Error ILC
M. Norrlöf and S. Gunnarsson
4th Asian Control Conference (ASCC 2002), Singapore, September 25-27, 2002.

Disturbance aspects of high order Iterative Learning Control
M. Norrlöf and S. Gunnarsson
15th IFAC World Congress, Barcelona, Spain July 21-26, 2002.

Modeling and identification of a mechanical industrial manipulator
M. Norrlöf, F. Tjärnström, M. Östring (Linköpings universitet), and
M . Aberger (Johannes Kepler University Linz, Austria)
15th IFAC World Congress, Barcelona, Spain July 21-26, 2002.

A General Framework for Iterative Learning Control
O. Markusson, H. Hjalmarsson (Royal Inst. of Tech.), and
M.Norrlöf
15th IFAC World Congress, Barcelona, Spain July 21-26, 2002.

A simulation and animation tool for studying multivariable control
M. Andersson, T. Glad, M. Norrlöf and
S. Gunnarsson
15th IFAC World Congress, Barcelona, Spain July 21-26, 2002.

Modeling of industrial robot for identification, monitoring, and control
M. Östring, F. Tjärnström, and M. Norrlöf
International Symposium on Advanced Control of Industrial Processes, Kumamoto, Japan June 10-11, 2002.

Modeling and identification of a mechanical industrial manipulator
M. Norrlöf, F. Tjärnström, M. Östring (Linköpings universitet), and
M . Aberger (Johannes Kepler University Linz, Austria)
Reglermöte 2002, Linköping, Sweden May 29-30, 2002.
Note: presented as poster.

A General Framework for Iterative Learning Control
O. Markusson, H. Hjalmarsson (Royal Inst. of Tech.), and
M.Norrlöf
Reglermöte 2002, Linköping, Sweden May 29-30, 2002.
Note: presented as poster.

Iterative learning control of nonlinear non-minimum phase systems and its application to system and model inversion
O. Markusson, H. Hjalmarsson (Royal Inst. of Tech.), and
M.Norrlöf
2001 IEEE Conference on Decision and Control, Orlando, Florida, USA.

An adaptive approach to Iterative Learning Control with experiments on an industrial robot
M. Norrlöf
European Control Conference, ECC 2001, 4-7 September, 2001 Seminário de Vilar, Porto, Portugal.

Closed Loop Identification of the Physical Parameters of an Industrial Robot
M. Östring, S. Gunnarsson, M. Norrlöf
32nd International Symposium on Robotics (ISR), April 19-21, 2001, Seoul, Korea.

Comparative study on first and second order ILC - frequency domain analysis and experiments
M. Norrlöf
2000 IEEE Conference on Decision and Control, Sydney, Australia.

A model based Iterative Learning Control method applied to 3 axes of a commercial industrial robot
M. Norrlöf and S. Gunnarsson
IFAC symposium on robot control, Vienna, Austria, 2000

Iterative Learning Control of a Flexible Mechanical System Using Accelerometers
S. Gunnarsson and M. Norrlöf
IFAC symposium on robot control, Vienna, Austria, 2000

A model based Iterative Learning Control method applied to an industrial robot
M. Norrlöf and S. Gunnarsson
Reglermöte 2000, Uppsala, Sweden.
Note: presented as poster.

A Frequency Domain Analysis of A Second Order Iterative Learning Control Algorithm
M. Norrlöf and S. Gunnarsson
1999 IEEE Conference on Decision and Control, Phoenix, Arizona, USA.

Some Aspects of an Optimization Approach to Iterative Learning Control
S. Gunnarsson and M. Norrlöf
1999 IEEE Conference on Decision and Control, Phoenix, Arizona, USA.

A model based Iterative Learning Control method applied to an industrial robot
M. Norrlöf and S. Gunnarsson
Proceedings of CCSSE, 1999.

On Iterative Learning Control with disturbances
M. Norrlöf and S. Gunnarsson
Reglermöte'98, Lund, Sweden.
Note: presented as poster.

Some results on Iterative Learning Control with disturbances
M. Norrlöf and S. Gunnarsson
Proceedings of CCSSE, 1998.

Some experiences of the use of iterative learning control for performance improvement in robot control systems
S. Gunnarsson and M. Norrlöf
Preprints of the 5th IFAC symposium on robot control, Nantes, France, 1997.

On the use of learning control for improved performance in robot control systems
S. Gunnarsson and M. Norrlöf
Proceedings of the European Control Conference, Brussels, Belgium, 1997.

Using iterative learning control to get better performance of robot control systems
M. Norrlöf and S. Gunnarsson
Proceedings, robotikdagarna 1997, Department of Mechanical Engineering, Linköping University.

Patents and patent applications

Path correction for an industrial robot
S. Gunnarsson, M. Norrlof, G. Hovland, U. Carlsson, T. Brogårdh, T. Svensson, and S. Moberg
US patent No. US7,130,718 B2. October, 2006.

"Lead Through" programmering med en kinematiskt redundant robot
H. Brantmark, M. Norrlöf och M. Strandberg
SE 0802607-2. Dec, 2008.

Metod för att bestämma en okänd orientering och position för en accelerationsmätare på en robotenhet
M. Norrlöf, R. Henriksson och S. Moberg
SE 0900700-6. Maj, 2009.

Robotmanöveranordning anpassad att styra en robotbana hos en robotenhet
H. Jerregård, M. Norrlöf och M. Strandberg
SE 0900755-0. Juni, 2009.

A Method for Reducing the Energy Consumption of an Industrial Robot and an Industrial Robot System
M. Björkman and M. Norrlöf
WO2011042293 (A1). April, 2011.

Internal Reports

Check out the latest list of Reports written by me.

PhD Thesis

Iterative Learning Control: Analysis, Design, and Experiments
M. Norrlöf
Linköping Studies in Science and Technology, Dissertations. No. 653, October 2000.
Errata in PDF-format.

Licentiate Thesis

On Analysis and Implementation of Iterative Learning Control
M. Norrlöf
Linköping Studies in Science and Technology, Thesis No. 727, October 1998.

Master Thesis

Study of test environments for the Base Station Controller in the Ericsson GSM system, CME 20
M. Norrlöf and S. Streiffert
LiTH-IDA-Ex-9615, 1996, Department of Computer and Information Science, Linköping University. (Done at Ericsson Radio Systems AB, Linköping, 1996).