A Discrete Iterative Learning Control Method with Application to Electric Servo Motor Control

In this paper, an iterative learning control algorithm for unknown linear discrete systems is proposed by employing a parameter estimator together with an inverse system model. Regardless of initial error and inherent parameter uncertainty, a good tracking control performance is obtained using the proposed learning control algorithm characterized by recursive operations. A sefficient condition for convergency is provided to show the effectiveness of the proposed algorithm. To investigate the performance of the algorithm a series of simulations and experiments were performed for the tracking control of a servo motor.