Iterative Learning Control (ILC) is a method to achieve tracking a specific reference by repeatedly updating control inputs. The learning algorithm of the ILC is conducted by using previous error information and learning parameters for systems that perform the same operation repeatedly. The ILC design requires an impulse response model for the learning coefficient matrix. However, it suffers from estimating an impulse response model in case where the measurement noise is present. Therefore, the study proposes a method for estimating impulse response to mitigate the influence of measurement noise. The proposed method estimates an impulse response projected to the linear space generated by the nominal model. The effectiveness of the proposed method is illustrated through numerical simulation results.
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