Iterative Learning Control of a Flexible Beam

Iterative learning control (ILC) is widely used in engineering, especially in the repetitive processes, including robot arm manipulators, chemical batch processes and reliability testing rigs [1, 2]. By learning from the past control experience, system performances are improved [3]. ILC is employed without perfect knowledge of the target system, and possesses relative simple structure and almost model-free nature [4, 5]. Most ILC schemes are proposed to track periodic trajectories and reject periodic disturbances under the identical initial condition [6].