Iterative learning control

Douglas A. Bristow, Kira L. Barton, Andrew G Alleyne

Research output: Chapter in Book/Report/Conference proceedingChapter


Iterative learning control (ILC) is a performance-enhancing feedforward control scheme for systems that repeat the same trajectory or task. Before the start of each iteration of the trajectory, the designed ILC algorithm uses the error signal from the previous iteration(s) to generate an updated feedforward control signal. The learning process converges after anywhere from a few to tens of iterations, depending on the algorithm. In the literature it is commonly reported that ILC improves the performance of physical systems by several orders of magnitude, measured by root mean square (RMS) or maximum error, as compared to those systems’ feedback controllers.

Original languageEnglish (US)
Title of host publicationThe Control Systems Handbook
Subtitle of host publicationControl System Advanced Methods, Second Edition
PublisherCRC Press
Number of pages20
ISBN (Electronic)9781420073652
ISBN (Print)9781420073645
StatePublished - Jan 1 2010


ASJC Scopus subject areas

  • Engineering(all)

Cite this

Bristow, D. A., Barton, K. L., & Alleyne, A. G. (2010). Iterative learning control. In The Control Systems Handbook: Control System Advanced Methods, Second Edition (pp. 857-876). CRC Press.