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PD-type iterative learning control algorithm research with forgetting factor

YANG Hong1,2(1.College of Electrical and Mechanical Engineering,Qingyuan Polytechnic,Qingyuan 511510,China; 2.College of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China)  
Escaping from the operator estimation proof method of traditional iterative learning control algorithm with forgetting factor,the thought that the forgetting factor is a function of the number of iterations is given,the convergence conditions are simplified,and then the proof of convergence and simulation examples are given.Simulation results show that,under the improvements of the convergence conditions,the PD-type iterative learning control algorithm with forgetting factor is effective.Compared to typically algorithm,the error tracking curve of the algorithm with forgetting factor which has certain superiorities in iteration error tracking is smoother.
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