Parameter optimisation in iterative learning control

In this paper parameter optimisation through a quadratic performance index is introduced as a method to establish a new iterative learning control law. With this new algorithm, monotonie convergence of the error to zero is guaranteed if the original system is a discrete-time LTI system and it satisfies a positivity condition. A high-order version of the algorithm is also derived and its convergence analysed. The theoretical findings in this paper are highlighted with simulations.