“…Since the early work of Arimoto et al (1984), this technique has been the center of interest for many researchers over the last decades (see, for instance Ardakani et al, 2017; Bouakrif, 2010; Bouakrif, 2011a; Bouakrif, 2011c; Bouakrif and Zasadzinski, 2016; Bouakrif and Zasadzinski, 2018; Bouakrif et al, 2013; Devasia, 2016; Li et al, 2016; Liang and Wang, 2018; Liu et al, 2017; Meng and Moore, 2017; Zundert et al, 2016). In fact, according to the learning action type, there are mainly four schemes of ILC: P-type (Liu et al, 2018), D-type (Bouakrif, 2011b; Dai et al, 2018), PD-type (Park, 2005) and PID-type (Madady, 2008). In addition, ILC has been widely used in industries such as robots industrial (Tayebi and Islam, 2006), hard disk drive (Chen et al, 2006), multi-agent systems (Jin, 2016) and piezo nanopositioner (Feng et al, 2018).…”