Frequency Response Function-Based Learning Control: Analysis and Design for Finite-Time Convergence

Iterative Learning Control (ILC) enables substantial performance improvement by using past operational data in combination with approximate plant models. The aim of this paper is to develop an ILC framework based on nonparametric frequency response function (FRF) models that requires very limited modeling effort. These FRF models describe the behavior of a system in periodic steady state, yet are employed for the control of arbitrary finite-length tasks. A detailed analysis and design framework is developed to construct noncausal learning filters directly from uncertain FRF models, that achieve ILC convergence for arbitrary tasks. The resulting framework provides a unification between ILC and Iterative Inversion-based Control (IIC), where the latter is a learning method specifically developed for periodic tasks.