Multi-channel design for iterative learning control

In this paper, a multi-channel method is proposed for design of iterative learning control. This novel design method uses multiple channels to widen the learning frequency range that can be achieved by a single channel. The application of the multi-channel method to the anticipatory learning control design is analyzed in details. The design procedure and effectiveness of the multi-channel method are demonstrated via an example and simulations. Comparisons of the multi-channel learning control with the conventional single channel learning control highlight the application prospect of the multi-channel design method.