Discrete Fourier Transform Based Iterative Learning Control Design for Linear Plants With Experimental Verification

This paper considers the design of linear iterative learning control algorithms using the discrete Fourier transform of the measured impulse response of the system or plant under consideration. It is shown that this approach leads to a transparent design method whose performance is then experimentally benchmarked on an electromechanical system. The extension of this approach to the case when there is uncertainty associated with the systems under consideration is also addressed in both algorithm development and experimental benchmarking terms. The robustness results here have the applications oriented benefit of allowing the designer to manipulate the convergence and robustness properties of the algorithm in a straightforward manner.