Time and frequency domain convergence properties in iterative learning control

By Mikael Norrlöf, S. Gunnarsson. 2002

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A survey of iterative learning control (2006, methodology): “Repeating disturbances [44], repeated nonzero initial conditions [4], and systems augmented with feedback and feedforward control [44] can be captured in d(k).”
Iterative Learning Control for Variable Pass Length Systems (2011, background): “From that it is concluded that the error converges to a finite value 2 e∞ := limj→∞ ej if and only if the spectral radius ρ(PQP(In − PL)) = ρ(Q(In − LP )) is smaller than one [3].”
A survey on iterative learning control for nonlinear systems (2011, background): “…with uncertain input–output coupling matrix for linear uncertain systems, and achieve improved learning performance, for instance monotonic convergence, along the iteration axis for linear continuous-time systems (Norrlo¨f and Gunnarsson 2002) and linear discrete-time systems (Ahn et al. 2007).”
Iterative Learning Control: Brief Survey and Categorization (2007, background): “comparison of ILC update rules [293], [459], [464], [476]; discussion on convergence and/or robustness [233], [303], [307], [479].”