A PD-type open-closed-loop iterative learning control and its convergence for discrete systems

A PD-type open-closed-loop iterative learning control (ILC) scheme for discrete systems of output equation without U is proposed. The sufficient and necessary conditions of convergence for the learning law are given. According to the algorithm, the D-type ILC is used in open-loop and the P-type ILC is used in closed-loop. We perform a proof by using the inductive method. Simulation results show that not only the conventional based D-type ILC control law but also the P-type ILC control law can be used in the system.