Iterative learning control utilizing the error prediction method

In this paper, iterative learning control utilizing the error prediction me thod is proposed for a class of linear time varying systems subjected to di sturbances. Prediction of the error is done by identifying the system time varying parameters. Convergence of the proposed method is analyzed and the uniform boundedness of tracking error is obtained in the presence of uncert ainty and disturbances. It is shown that the learning algorithm not only gu arantees the robustness, but also improves the learning rate despite the pr esence of disturbances. The effectiveness of the proposed method is present ed by simulations.