A tuning algorithm of PD-type Iterative Learning Control

Iterative Learning control (ILC) is a powerful control concept that iteratively improves the behaviors of processes that are repetitive in nature. A new and systematic frequency-domain approach of the PD iterative learning control has been presented based upon frequency domain of continuous model. For design specifications, including the convergence margin and cut-off frequency which is determined by useful input signal, a proper PD learning operator can be tuned practically and the obtained rate of convergence is quit good. It is also noted that, for a given plant, frequency band can not been increased much more with PD learning operator for guaranteeing convergence. Simulation results show that the proposed algorithms are practical and effective.