In many industrial robot applications it is a fact that the robot is programmed to do the same task repeatedly. By observing the control error in the different iterations of the same task it becomes clear that it is actually highly repetitive. Iterative Learning Control (ILC) allows to iteratively compensate for and, hence, remove this repetitive error. In the thesis different aspects of iterat...

Iterative learning control applies to systems that repeatedly execute the same finite duration task. The distinguishing feature of this form action is all data generated on a previous execution task available compute for subsequent execution. This paper uses repetitive process stability analysis and optimization techniques design dynamic controller that, in contrast designs process/2D setting, ...