On the Multivariable Iterative Learning Control base on the Gradient Method

AbstractIn this paper, it will be clear the structure of the Iterative Learning Control (ILC) based on the inverse system. Moore-Penrose pseudo-inverse of a Toeplitz matrix will be investigated to analyze the learning gain matrix and will be derived the cascade controller transfer function matrix. From these investigations, the critical points of ILC based on the gradient will be issued.