Experimentally Validated Vector Lyapunov Function-Based Iterative Learning Control Design Under Input Saturation

This article addresses the problem of input saturation in iterative learning control (ILC), a problem area that has seen relatively little research effort. A new design is developed based on a branch of 2-D systems theory and, in particular, Lyapunov-based stability theory. The resulting design is compared in simulation with an alternative. In the final part of this article, the results of an in-depth experimental investigation of the new designs properties are reported.