Adaptive iterative learning control

Describes the basic ideas underpinning the notion of iterative learning control (ILC) for systems where the experimental set-up permits the use of repetition to enable the controller to increase its accuracy in tracking of a specified set-point signal r(t). The resultant process of learning requires a new viewpoint on aspects of classical control design that presents new problems and new opportunities. The main issue addressed in the paper is the possibility of coping with plant uncertainty during the learning process by a combination of the process of iterative learning with adaptive control. The idea opens up a number of possibilities. The approach used here is that of universal adaptive stabilisation as it is a useful vehicle in demonstrating the essential feasibility of the ideas and in suggesting limiting factors.