Terminal Iterative Learning Control with Multiple Intermediate Pass Points

In this paper, we present iterative learning control (ILC) algorithms for terminal control in multi-input multi-output systems. The optimal ILC framework is investigated for the formulations of single-terminal point and multiple intermediate pass points tracking control. First, we consider an initial learning control technique for one final output, before sequentially exploring multiple terminal output-tracking via initial and changing inputs. The novel contribution of this work is in the analysis of the terminal ILC algorithms, regardless of the stability, monotonic convergence, and performance properties in both cases. Illustrative examples are then provided to verify the proposed approaches.