Iterative learning control (ILC) is a high-performance tracking control design method for
systems operating in a repetitive manner. This paper proposes a novel design methodology
that extends the recently developed point-to-point ILC framework to allow automatic via-
point time allocation within a given point-to-point tracking task, leading to significant
performance improvements, eg, energy reduction. The problem is formulated into an
optimization framework with via-point temporal constraints and a reference tracking …

Iterative learning control (ILC) is a high performance control technique for systems operating
in a repetitive manner. A novel design methodology is developed in this paper to incorporate
optimal tracking time allocation within the point-to-point ILC framework for discrete time
systems. This leads to significant performance improvements compared to fixed time points
(eg energy reduction). An optimization problem is formulated based on the point-to-point
tracking requirement and the via-point temporal constraints. A two stage design framework is …