Equivalent Lyapunov and frequency domain stability conditions for iterative learning control systems

A system which repeatedly tracks a specified trajectory is considered. The error between a specified trajectory and the actual trajectory of system from the previous trial is used by an iterative learning control law in order to reduce this error on the current trial. Sufficient conditions which were developed by the authors for iterative learning system stability using Lyapunov stability theory are referenced. Necessary and sufficient conditions for iterative learning system stability using frequency domain analysis developed by the authors are also referenced. It is shown the these time and frequency domain stability conditions are equivalent.<
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