An improvement on the transient response of tracking for the sampled-data system based on an improved PD-type iterative learning control

State constrained tracking control for nonlinear systems

“…In the ILC approach, the previous control sequence is used to compute the next one and thus improve the tracking performance as k increases by an appropriate choice of the gain L (see [18], [19] and the references therein). Despite its efficiency, the disadvantage of this method in comparison with the ones listed previously, is that the control is generally made off-line, in a finite time interval and supposing that all the data are available.…”

“…The matching conditions for the reference model and the system are then obtained by comparing the closed-loop system (21) and the reference model (19). The perfect transient tracking conditions are given by:…”

One-Learning-Epoch Optimal LQDT with Input Constraint for the Repetitive Proper System with Unknown Disturbances

“…The specified task is regarded as improving the tracking performance of systems. The objective of iterative learning control (ILC) [1][2][3][4][5][6] is to use the information from previous executions of the task and do repetitive work by tracking error in attempt to achieve the desired trajectory to minimal error, which has been successfully applied to the real systems, such as industrial robots, wafer scanner, chemical processes and many production machines.…”

“…However, due to the initialization of the methodology itself, it significantly reduces the learning epochs for the pre-specified tracking performance than that in [5]. This implies that by the well-selected initialization of ILC, it significantly reduces the learning epochs of ILC, which can be referred to our previous work [6]. Besides, the systems considered in [5,6] and therein are restricted to input constraint-free, disturbancefree and/or strictly proper systems.…”

“…This implies that by the well-selected initialization of ILC, it significantly reduces the learning epochs of ILC, which can be referred to our previous work [6]. Besides, the systems considered in [5,6] and therein are restricted to input constraint-free, disturbancefree and/or strictly proper systems. So no appropriate numerical comparison can be made in this paper.…”