Iterative learning control for stochastic point-to-point tracking system

In this paper, an iterative learning control (ILC) algorithm with iteration varying gain is proposed for stochastic point-to-point tracking systems. The general formulation of point-to-point control problem and an associated performance index are given. The almost sure convergence of the given recursive algorithm is strictly proved in term of a modified tracking error. An illustrative example shows the effectiveness of the proposed approach.