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Iterative Learning Control (ILC) is a control strategy that improves the performance of repetitive systems by enabling near-perfect reference tracking. Iteration-invariant reference signals have been a fundamental assumption for most existing ILC developments. This assumption poses limitations on many applications of ILC where the iteration-varying reference is known to the controller a priori. This work presents a switch-based ILC scheme that combines the performance of standard ILC with guarantees on the error for switched reference signals. The proposed controller is formulated and its performance is analyzed. A simulation case study is provided at the end to illustrate the performance.
Balta et al. (Wed,) studied this question.