Fuzzy PD iterative learning control algorithm for improving tracking accuracy

The authors develop a new P-type iterative learning control algorithm by supplementing a fuzzy control output of a fuzzy PD controller from the current iteration with a filtered learning control signal of the previous iteration. Analysis shows that the new fuzzy ILC algorithm converges rapidly. The algorithm is tested by simulations and laboratory experiments and is found to give good tracking accuracy and robustness to perturbations.