Norm-Optimal Iterative Learning Control With Intermediate Point Weighting: Theory, Algorithms, and Experimental Evaluation

摘要

This brief considers the iterative learning control (ILC) problem when tracking is only required at a subset of isolated time points along the trial duration. It presents a norm-optimal ILC solution to the problem with well-defined convergence properties, design guidelines, and supporting experimental results using an electromechanical test facility.