Designing an iterative learning controller with reduced sampling rate and smooth controller output

A discrete-time iterative learning controller for single input single output systems is presented. It works with a reduced sampling rate in order to guarantee the reduction of the error norm from cycle to cycle. A consequence of the increased sample time is that large and abrupt, changes in the controller output are likely to be induced. In order to overcome this problem, the design of an ILC using hold devices with continuous transitions between the control values is presented