Convergence analysis of feedback-based iterative learning control with input saturation

Abstract

The use of feedback-based iterative learning control (ILC) has been widely reported in the literature to reduce large transient errors in the iteration-domain. Using both feedback and feed-forward (ILC) would result in large control input. However, due to the existence of hardware limitation, input constraints exist. Such a hard constraint might lead to unacceptable performances such as unstable trajectories in the time-domain and steady-state error in the iteration-domain. In this paper, a feedback-based ILC design is proposed for a class of linear-time-invariant system in the presence of input constraints. The proposed control scheme consists of two parts: one (feedback) deals with the per..