Iterative learning control for discrete time systems using optimal feedback and feedforward actions

An algorithm for iterative learning control is proposed based on an optimization principle used by other authors to derive gradient type algorithms. The new algorithm is a descent algorithm and has potential benefits which include realization in terms of Riccati feedback and feed-forward components. This realization also has the advantage of implicitly ensuring automatic step size selection and hence guaranteeing convergence without the need for empirical choice of parameters. The algorithm achieves a geometric rate of convergence for invertible plants which can be arbitrarily changed by design parameters