Point-to-Point Iterative Learning Control with Piecewise Constant Inputs

A point-to-point iterative learning control (P2P-ILC) method with piecewise constant input is proposed by designing simple input signals at the sampling times corresponding to the key points of the desired output. After identifying a simplified model with piecewise constant input, the control law can be calculated by a common ILC method with a fixed reference trajectory. To improve the control performance of the method, the integrated predictive ILC is further utilised and the method can effectively suppress disturbances. Comparing with the common ILC method, the model is simpler and the proposed method can lead to faster convergence. Simulation results of a numerical model have shown the effectiveness of the proposed method.