Analysis and Causal Formulation Proof of an Optimal Iterative Learning Algorithm

Iterative learning control (ILC) is used to control systems that operate in a repetitive mode, improving tracking accuracy of the control by transferring data from one repetition of a task, to the next. In this paper an optimal iterative learning algorithm for discrete linear systems is analyzed and a solution for its attainment is proposed. Finally the mathematical proof of the algorithmʹs causal formulation is also provided in its complete form, since its implementation requires its causal formulation.