Effects elimination of channel noises for wireless remote ILC systems based on Kalman filter

In this paper, a Kalman filter scheme is proposed for wireless remote iterative learning control (ILC) systems with the effects of channel noises. For a class of discrete-time linear time-invariant systems, the relationship between output error and channel noises is derived using super-vector method in iterative domain, and then Kalman filter is introduced to eliminate the effects on convergence performance of output error, which helps to track the desired trajectory accurately. Examples are presented to demonstrate the applicability and performance of the proposed scheme.