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We propose a new Iterative Learning Controller (ILC) algorithm based on M. Pandit and D. Andress and Niels Johannes Maria Bosch considering the current cycle parameters and some part of the system dynamics. We have selected a Single Inverted Pendulum - which is multivariable and highly unstable system, as a control object to demonstrate the effectiveness of the proposed ILC algorithm. The test results of proposed ILC algorithm are compared with the other implementations such as LQR (non-learning), Lifted ILC and ILC algorithm suggested by M. Pandit and D. Andress. The results show that the proposed algorithm gives much better control as compared to LQR, Lifted ILC algorithm and there is a significant improvement in the settling time as compared to ILC algorithm given by M. Pandit and D. Andress.