The use of inverse modelling in ILC methods

I. Iterative Learning Control Iterative Learning Control (ILC) is a control method that iteratively improves the performance of a system. It can be used for systems that execute the same task several times (under the same operating conditions and with the same initial conditions), such as a robot arm that performs the same part of a fabrication process over and over again. By using information from previous iterations, the control input is modified in order to get a better approximation of the desired trajectory. A widely used ILC learning algorithm [1] is ( ) ) 1 ( ) ( ) ( ) ( ) ( 1 + + = + k e q L k u q Q k u j j j