Objective-driven ilc for point-to-point movement tasks

A framework is developed which allows a general class of ILC algorithm to be applied to tasks which require the plant output to reach a given point in a set time. It is shown that superior convergence and robustness properties are obtained compared with those associated with using the original ILC law to track an arbitrary reference trajectory satisfying the end-point conditions. Experimental results are given to confirm the theoretical findings, and verify the favourable qualities of this novel approach to point-to-point movement control.