Abstract
Repetitive and iterative learning control are control strategies for systems that perform repetitive tasks or on which periodic disturbances act. In the field of motion systems this occurs if disturbances are position dependent or if dynamics are excited in a similar way during each point to point motion. For this class of systems design procedures for feedback controllers are recapitulated and feedforward strategies are explained. Iterative learning control in particular is a powerful concept, and design rules can be used to reduce the error far above the feedback bandwidth for repeatedly operated machines. Experiments illustrate the value of these design rules.
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