Iterative learning control for constrained linear systems

This article considers iterative learning control (ILC) for linear systems with convex control input constraints. First, the constrained ILC problem is formulated in a novel successive projection framework. Then, based on this projection method, two algorithms are proposed to solve this constrained ILC problem. The results show that, when perfect tracking is possible, both algorithms can achieve perfect tracking. The two algorithms differ, however, in that one algorithm needs much less computation than the other. When perfect tracking is not possible, both algorithms can exhibit a form of practical convergence to a 'best approximation'. The effect of weighting matrices on the performance of the algorithms is also discussed and finally, numerical simulations are given to demonstrate the effectiveness of the proposed methods.