A feedback-feedforward high order iterative learning control for freeway ramp metering

In this work, a new combination form of high-order iterative learning control and feedback control is proposed to address the traffic density control problem in a macroscopic level freeway environment with ramp metering. Through adding feedback element and high order feedforward elements, the proposed approach can improve classical iterative learning control performance. The effectiveness of the new approach is verified through rigorous theoretical analysis and case studies with intensive simulations.