An algorithm for Iterative Learning Control is proposed based on an optimization principle used by other authors to derive gradient type algorithms. The new algorithm is a descent algorithm and has potential benefits which include realization in terms of Riccati feedback and feedforward components. This realization also has the advantage of implicitly ensuring automatic step size selection and hence guaranteeing convergence without the need for empirical choice of parameters. The algorithm achieves a geometric rate of convergence for invertible plants. One important feature of the proposed algorithm is the dependence of the speed of convergence on weight parameters appearing in the norms of the signals chosen for the optimization problem.

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SUMMARYA new design methodology for iterative learning control systems is developed. It is based on the convergence condition for systems operating on an infinite time interval which is of the H, type. The principal idea of the design technique is to design a learning controller such that the speed of convergence is maximized, with a compromise to robustness. The issue of finite versus infinite trial lengths is addressed, as well as limitations on the best achievable rate of convergence due to structural properties of the plant.