An Optimal Iterative Learning Control for Continuous -Time Systems

A novel iterative learning control method is obtained in this paper using the optimal control theory. The method can control the iterative systems, which have arbitrary initial conditions and also include the disturbance inputs, so that by increasing the iterations encloses the system output to a desired output trajectory and minimizes a quadratic cost function. Physical interpretation of the cost function is that the output of system should approach to the desired output trajectory without many changes in its input. The effectiveness of the presented optimal learning method is illustrated by simulation example