Iterative Learning Control

Author

Douglas A. Bristow, Missouri University of Science and TechnologyFollow
Kira L. Barton
Andrew G. Alleyne

Abstract

Iterative learning control (ILC) is a performance-enhancing feedforward control scheme for systems that repeat the same trajectory or task. Before the start of each iteration of the trajectory, the designed ILC algorithm uses the error signal from the previous iteration(s) to generate an updated feedforward control signal. the learning process converges after anywhere from a few to tens of iterations, depending on the algorithm. in the literature it is commonly reported that ILC improves the performance of physical systems by several orders of magnitude, measured by root mean square (RMS) or maximum error, as compared to those systems' feedback controllers.

Recommended Citation

D. A. Bristow et al., "Iterative Learning Control," The Control Systems Handbook: Control System Advanced Methods, Second Edition, pp. 857 - 876, Taylor and Francis Group; Taylor and Francis, Jan 2010.

The definitive version is available at https://doi.org/10.1201/b10384

Department(s)

Mechanical and Aerospace Engineering

International Standard Book Number (ISBN)

978-142007365-2;978-142007364-5

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 Taylor and Francis Group; Taylor and Francis, All rights reserved.

Publication Date

01 Jan 2010