Abstract
The earlier iterative learning control usually needs the turning of leaning gains against the each variation of dynamics parameters by a heuristic approach. The gain tuning wastes large time because the gain-parameters are very sensitive to the variation. In this paper, we incorporate sliding mode control with the iterative learning control for the robustness of iterative learning control. The usefulness of the proposed method is demonstrated through some experimental results using a one-DOF rotary system.
