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Iterative learning control (ILC) is a very effective technique to reduce systematic errors that occur in systems that repetitively perform the same motion or operation. However, several characteristics have prevented standard ILC from being widely used for high precision motion systems. Most importantly, the learned feedforward signal depends on the motion profile (setpoint trajectory) and if this is altered, the learning process has to be repeated. Secondly, ILC amplifies non-repetitive disturbances and noise. Finally, its performance may be limited due to position-dependent dynamics. This paper presents the design and implementation of a time-frequency adaptive ILC that is applicable for motion systems which executes the same motion or operation. It employs the same control system block diagram as standard ILC, but instead of a fixed robustness filter it uses a time-varying filter. By using the results of the time-frequency adaptive ILC, i.e., the shape of the learned feedforward signal, a ldquopiecewise ILCrdquo is proposed that leads to the design of a single learned feedforward signal suitable for different setpoints. The results are experimentally shown to work for a high precision motion system.