Iterative Learning Control with Simultaneous Feedback Gain Tuning

The iterative learning control (ILC) achieves optimal feedforward control laws to follow a prescribed reference signal. Among several studies on the ILC approaches, the ILC incorporated with Proportional, Integral, and Derivative (PID) controllers have been studied. In these approaches, PID controller works for improving feedback properties, such as disturbance attenuation properties. However, the conventional approaches keep fixed PID gain parameters without evaluating the feedback properties. Hence, the study introduces a PID gain tuning approach using the iterative feedback tuning (IFT). The study also introduces a compensation method for feedforward control law achieved by ILC. Finally, the paper shows the effectiveness of the proposed method through a numerical example. © 2024 The Institute of Electrical Engineers of Japan.