A survey of methods for handling initial state shifts in iterative learning control

Abstract

This paper introduces three types of controllers: a PID-type iterative learning controller, an adaptive iterative learning controller, and an optimal iterative learning controller, and reviews the history and research status of initial shifts rectifying algorithms. Initial state shifts have attracted research attention because they affect both the tracking performance and system stability. This study focuses on the current common initial shifts rectifying methods and analyzes the underlying mechanism in detail. To verify the effectiveness of the presented initial shifts rectifying algorithms, we simulated those using ideal first- and second-order systems. Finally, directions for the future development of iterative learning control (ILC) and some challenging topics related to initial shifts rectifying for ILC are presented. This article aims to introduce recent developments and advances in initial shifts rectifying algorithms and discuss the directions for their further exploration.

Keywords: Convergence; Initial rectifying; Iterative learning control.