Design of fractional order iterative learning control on frequency domain

Iterative learning control (ILC) is a powerful control concept that iteratively improves the behaviors of processes that are repetitive in nature. Furthermore, it is remarkable to see the increasing number of studies related to the theory and application of fractional order controller (FOC), especially PI^λD^μ controller, in many areas of science and engineering. Research activities are focused on developing new analysis and design methods for fractional order controllers as an extension of classical control theory. A new and systematic frequency-domain approach of the fractional order D-type iterative learning control(FO-ILC) has been presented based upon frequency domain of continuous model. A proper FO-ILC learning operator can be tuned practically and the obtained rate of convergence is quite good. Simulation results show that the proposed algorithm is practical and effective.