An Introduction to Iterative Learning Control - Inside Mines

Concluding Comments - 2
• We have presented a matrix fraction approach to iterative learning control:
– We showed how “filtering” in the repetition domain can be interpreted as transforming
the two-dimensional system design problem into a one-dimensional multivariable design
problem.
– Conditions for ILC convergence in terms of the ILC gain filters were derived using a
matrix fraction approach and the final value theorem.
• We have shown that the control input resulting from a convergent ILC scheme is identical
to that resulting from a standard one-step-ahead controller acting to produce minimum
prediction error when there is full plant knowledge:
– This result reinforces the notion that the effect of an ILC system is to invert the plant.
– This result shows that the ILC process, which is fundamentally open-loop in time, is
equivalent (in its final result) to a closed-loop control system