A discrete iterative learning controller for tracking application

An effective discrete learning control method is proposed for improving the tracking performance of linear systems repeating the task from cycle to cycle. With this method, the current cycle data are intentionally introduced into the learning control law such that the existence of a separate conventional feedback loop, which is needed for the more common learning control algorithms, is no longer necessary. The analysis of the convergence is conducted completely in discrete-time domain. The fast convergent performance is further substantiated by simulation results