Robust Iterative Learning Control for output tracking via second-order sliding mode technique

This paper provides a new design of robust Iterative Learning Control (ILC) for the purpose of output tracking using second-order sliding mode technique. The main feature of the design is that the controller signal is continuous; therefore it is chattering-free compared with the robust ILC using classical first-order sliding mode technique. The continuous and non-chattering control signals can prevent actuators from being damaged. This can not be realized by the discontinuous and chattering control inputs if the conventional sliding-mode control is applied. The robust ILC is suggested and the convergence of output-tracking error is proven. An illustrative example is presented to demonstrate the effectiveness of the proposed second-order continuous sliding mode ILC.