A framework for iterative learning control (ILC) is proposed for the situation when an ILC algorithm uses an estimate of the controlled variable obtained from an observer‐based estimation procedure. Assuming that the ILC input converges to a bounded signal, a general expression for the asymptotic error of the controlled variable is given. The asymptotic error is exemplified by an ILC algorithm applied to a flexible two‐mass model of a robot joint.
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Wallén et al. (2010) studied this question.
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