Abstract: Monotonic convergence condition of high-order iterative learning control (ILC) in a suitable norm topology is discussed for a class of discrete-time linear time-invariant system. Optimal parameters design of the ILC scheme is presented and corresponding convergence rate is analyzed. The commonly used algorithms of discrete P, D, PD iterative learning control can be considered examples of the proposed updating law. Simulation results show that better monotonic convergence performance is achieved by using the optimal design.

Key words: Iterative learning control, Monotonic convergence Discrete-time linear time-invariant system Optimal design