Adaptive PI type iterative learning control

Based on combination of an optimal PI type iterative learning controller and projection like adjusting algorithm, an adaptive iterative learning control scheme is presented for repetitive control of uncertain systems. This adaptive iterative learning controller is designed without any priori knowledge of system parameters. The convergence of the presented scheme is analyzed and its convergence condition is obtained in terms of adjusting algorithm step size. An illustrative example is given to demonstrate the effectiveness of the proposed technique.