A time-varying iterative learning control scheme

Marina Tharayil, Andrew Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents an Iterative Learning Control scheme that uses a time-varying Q-filter. The purpose of the time-varying Q-filter is to utilize the enhanced robustness given by a low bandwidth filter, while taking advantage of the superior performance properties of a high bandwidth Q-filter where needed. Simulations are provided to demonstrate the benefits of the proposed scheme. In addition, stability and convergence issues involved with using a time-varying filter are investigated. Finally the ILC algorithm developed here is implemented on a Microscale Robotic Deposition (μRD) system to provide experimental verification.

Original languageEnglish (US)
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Number of pages6
StatePublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


OtherProceedings of the 2004 American Control Conference (AAC)
Country/TerritoryUnited States
CityBoston, MA


  • Convergence
  • Iterative learning control
  • Robustness
  • Stability
  • Time varying control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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