Towards tracking iterative learning control for a class of constrained dynamic systems with bounded disturbances^*

The paper deals with the problem of designing a novel iterative learning control (ILC) strategy for a class of input/state constrained dynamic systems. In particular, the proposed approach boils down to designing an input/state ILC for a virtual deterministic reference system. Based on the obtained control law as well as the reference system state, the final control strategy for the actual disturbed system is obtained. As a result, the actual system tracks the reference one with a desired performance taking into account the unappealing disturbance effect. The final part of the paper presents comprehensive simulation results, which clearly exhibit the effectiveness of the proposed approach.