A framework for Iterative Learning Control (ILC) is proposed for the situation when the ILC algorithm is based on an estimate of the controlled variable obtained from an observer-based estimation procedure. Under the assumption that the ILC input converges to a bounded signal, a general expression for the asymptotic error of the controlled variable is given. The asymptotic error is then exempli...

In this paper the learnability of Iterative Learning Control (ILC) under the framework of energy function is explored. First we show that ILC is in essence a pointwise adaptation learning mechanism which can henceforth learn iterationindependent time-varying uncertainties. Next we propose a new robust ILC scheme to address norm-bounded uncertainties. The concept of Composite Energy Function (CE...

BACKGROUND To investigate the clinicopathological characteristics and the survival outcomes of invasive lobular carcinoma (ILC) patients compared to invasive ductal carcinoma (IDC) patients according to their molecular subtype. METHODS We compared the clinicopathological characteristics, breast cancer-specific survival (BCSS) and overall survival (OS) between patients with IDC (n = 14,547) an...

A new iterative learning control (ILC) method with initial rectifying action for nonlinear continuous multivariable systems is presented. Unlike general ILC techniques, the proposed ILC approach allows initial outputs of an ILC system at different iterations to fluctuate randomly around the initial value of the desired output. The proposed strategy includes an initial rectifying action of ILC o...

When an ILC algorithm is applied to an industrial robot, the goal is to move the tool along a desired trajectory, while only the motor position can be measured. In this paper aspects of robustness and performance are discussed when an ILC algorithm is applied to a flexible two-mass system. It is shown that the stabilising controller of the two-mass system also directly affects the robustness pr...

This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as a min-max problem with a quadratic performance index subjected to constraints of the control input. Employing Lagrange duality, we can reformulate the robust ILC design as a convex...

BACKGROUND Invasive lobular carcinoma (ILC) is more often multifocal and bilateral than invasive ductal carcinoma. MRI is usually recommended for detection of all ILC sites. The performance of known diagnostic breast MRI criteria for ILC characterization has not been evaluated to date using bilateral mastectomy specimens as gold standard. PURPOSE To determine the value of BI-RADS 2006 MRI cri...

Innate lymphoid cells (ILC) combine innate and adaptive immune functions and are part of the first line of defense against mucosal infections. ILC are set apart from adaptive lymphocytes by their independence on RAG genes and the resulting absence of specific antigen receptors. In this review, we will discuss the biology and function of intestinal ILC that express the nuclear hormone receptor R...

BACKGROUND While inspiratory muscle weakness is common in prolonged mechanical ventilation, inspiratory muscle strength training (IMST) can facilitate strengthening and ventilator weaning. However, the inspiratory load compensation (ILC) responses to threshold loads are not well characterized in patients. We retrospectively compared ILC responses according to the clinical outcomes of IMST (ie, ...

INTRODUCTION This study describes the differences between the two largest histological breast cancer subtypes (invasive ductal carcinoma (IDC) and invasive (mixed) lobular carcinoma (ILC) with respect to patient and tumor characteristics, treatment-choices and outcome in metastatic breast cancer. RESULTS Patients with ILC were older at diagnosis of primary breast cancer and had more often ini...