Designing PI Controller Based on Iterative Learning Control using Adaptive Technique

This paper presents a technique that can be used in designing an equivalent PI controller to different classes of the known Iterative Learning Control (ILC) namely P-type and high order ILCs. The equivalent PI controller can be explicitly represented in the z domain in contrast to the time domain based ILC, which gives another potential for stability analysis. Moreover, the derived PI controller combines the ease of tuning with the learning feature from past processes, which is the base of Iterative Learning Control (ILC). The results show that the ability of proposed approach to provide an equivalent PI controller that provides similar performances to the ILC when applied to various systems with no restrictions on the system order or type.