Abstract
Iterative learning control (ILC for short) is a simple and effective method for the control of systems that perform the same task repetitively. ILC algorithm uses the repetitiveness of the task to track the desired trajectory. In this paper, we assume that a measured finite impulse response series of the plant to be controlled are available. We propose an optimal design method of PID (proportional plus integral and derivative tracking error) type ILC update law, and a current cycle error assisted open ILC scheme is presented which is also called open and close loop PID type algorithm. By adding close loop scheme, the whole algorithm has better performance both in stability and convergence than the open loop one alone. The using of current iteration tracking error (CITE) also helps to get faster convergence rate. Furthermore, the effectiveness of the proposed method is illustrated by introducing some simulation experiments.
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