New results in iterative learning control

Iterative learning control is a fairly new technique in control where learning must be done in the presence of a specified dynamical system. The dynamics of the process can interact with the learning in a destructive manner, destroying stability of the combined system. The rigorous analysis of the behaviour of the combined learning and dynamical system is only now emerging. This paper describes results in an important aspect of the area. It includes a survey of work in this area and shows new results that extend previous work.