Data-driven optimal terminal iterative learning control

This paper presents a data-driven optimal terminal iterative learning control (TILC) approach for linear and nonlinear discrete-time systems. The iterative learning control law is updated from only terminal output tracking error instead of entire output trajectory tracking error. The only required knowledge of a controlled system is that the Markov matrices of linear systems or the partial derivatives of nonlinear systems with respect to control inputs are bounded. Rigorous analysis and convergence proof are developed with sufficient conditions for the terminal ILC design and the results are developed for both linear and nonlinear discrete-time systems. Simulation results illustrate the applicability and effectiveness of the proposed approach.

► We present an optimal terminal ILC using only the terminal output tracking error.
► The system is known with only the fact of the system Markov matrix being bounded.
► The controller design and analysis only uses the measured I/O data.
► The new TILC is a data-driven approach and generic to linear and nonlinear systems.