Polynomial Model of the Inverse Plant ILC Algorithm

In this paper the new iterative learning control algorithm is proposed and its properties are derived. An important characteristic of the algorithm is that they use the polynomial representations of the inverse plant G to construct the new control law. The approach is based on the parameter optimization through a quadratic performance index which its solution will convert in norm to zero. It is capable to produce an improvement to the convergence rate. As the number of polynomial term increases, faster convergence rate is accomplished and the ideal plant inverse algorithm is approached. A comparison between the proposed algorithm and the inverse type parameter optimal ILC is also presented based significantly on the convergence rate.