Research of Reverse Iterative Control Algorithm

For a class of desired trajectory with mirror symmetric properties, a reverse iterative learning control algorithm is proposed. Using the symmetric feature of this kind of trajectory, the output and its deviation in the iterative learning control are mirrored. By using the control information of the system alternately, so as to make the convergence speed of iterative learning control improved. Compared with the traditional iterative learning control algorithm, the control method proposed in this paper can speed up learning, reduce the overall iteration number of the system, and improve the industrial production efficiency. The effect of the proposed control algorithm is verified by the convergence analysis and simulation example.