A time-varying iterative learning control scheme

This paper presents an iterative learning control scheme that uses a time-varying Q-filter. The purpose of the time-varying Q-filter is to utilize the enhanced robustness given by a low bandwidth filter, while taking advantage of the superior performance properties of a high bandwidth Q-filter where needed. Simulations are provided to demonstrate the benefits of the proposed scheme. In addition, stability and convergence issues involved with using a time-varying filter are investigated. Finally the ILC algorithm developed here is implemented on a microscale robotic deposition (/spl mu/RD) system to provide experimental verification.