Event-based Iterative Learning Control for Linear Time-varying Systems

This paper investigates an event-based P-type iterative learning control (ILC) method for linear time-varying (LTV) systems by combining ILC with event-triggered control. The event triggering condition is composed of threshold condition and the condition derived by designing Lyapunov function along the iteration direction to ensure the system stability. What's more, event-based PD-type and PID-type ILCs are developed in the paper. A lot of simulations are given to illustrate that it can effectively reduce the number of control updates while ensuring good control performance.