ILC for External Disturbances and Systematic Uncertainties

This chapter mainly addresses unknown bounded external disturbances and system parameters for an Euler–Bernoulli beam system. In Sect. 4.1, the control objective aims to regulate the endpoint displacement to track the prescribed time-varying reference trajectory, regardless of distributed disturbance and non-collocated and collocated boundary disturbances, where all external signals are supposed to be generated by a finite-dimensional exo-system with unknown initial state. The external uncertainties are estimated by an observer for the exo-system, and then the observer-based boundary ILC is proposed to guarantee the output tracking. In Sect. 4.2, some system parameters are assumed to be unknown, and adaptive ILC is designed to guarantee the learning convergence.