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Study of PID Controller Based on Iterative Learning

QI Rong,LIN Hui (Automatic Control Department of Northwestern Polytechnical University,Xi'an 710072,China)  
The objective of this paper is to study how to design iterative learning controller for general control system with the theory of Iterative learning control in order to expend the application domain of Iterative learning control to more systems. Two methods of designing PID controller using anticipant input ud(t) and output yd(t) and track error ek+1(t) are put forward. The simulation experiment results show that two methods are very practicable and feasible.
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