Robust Iterative Learning Control: L1 adaptive feedback control in an ILC framework

This paper presents a novel Iterative Learning Control (ILC) scheme for linear systems in the presence of parametric uncertainty. The developed ILC architecture is comprised of an L
₁
adaptive feedback controller combined with an ILC feedforward controller. The learning controller is designed to compensate for repetitive system uncertainties, while the adaptive controller compensates for non-repetitive uncertainties. Simulation results for a simplified motion control system illustrate the potential benefits of the architecture.