Consolidated iterative learning control and a preliminary case study

In this paper, a new concept of iterative learning control (ILC), namely consolidated ILC (CILC), is introduced. An iterative learning control system is subject to data interrupt when the system output is restricted within a certain area. Data interrupt means that the system output is interrupted at a certain moment due to output restrictions. The output data from this moment to the end of the trail duration cannot be obtained, which is the biggest difference from the classical ILC problems. The ILC problems with data interrupt caused by output restrictions are called CILC problems. The idea to solve the CILC problems is to obtain the complete output data gradually as the number of iterations increases. First of all, three CILC problems in practice are presented as well as the intermittent ILC problems and the relationship between them. The CILC problems are formulated later and the uniform restriction is given. A specific linear case is also studied. According to the simulation results, it is possible to achieve the convergence of the specific system as well as to control the convergence rate by using a proper algorithm.