Iterative Learning Control for Linear Hybrid System with Iteration-Varying References

Based on the advancements in iterative learning control (ILC), this paper proposes a novel approach tailored for linear hybrid systems with iteration-varying references. By extending previous research, the method accurately estimates all system modes, even if there are mode transitions with iteration-varying mode transition time, ensuring precise calculation of control inputs. The estimation begins by identifying the first mode and decoupling it from the next mode to facilitate accurate estimation. The mode estimator and control law were mathematically proven to converge with increasing iterations, a conclusion further supported by simulations validating their performance.