Optimal Time Allocation of Point-to-Point Iterative Learning Control with Specifiewed Output Tracking

This paper studies the optimal time allocation of point-to-point (P2P) iterative learning control (ILC) when tracking selected elements or linear combinations of elements in the outputs. The optimization framework of the problem is a two-stage design algorithm, which is addressed by integrating norm-optimal ILC and the gradient method. To test the performance of the proposed algorithm, we report the results of our simulation test using a gantry robot.