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Further results on dynamic iterative learning control law design using repetitive process stability theory

Iterative learning control can be applied to systems that execute the same finite duration task over and over again. This method control has been applied to many engineering systems, such as gantry robots and electrical motors. This paper gives further results on the design of dynamic iterative learning control laws using the repetitive process setting using a model of a 3D crane. Of particular interest is to compensate for the effect of noise. The eventual aim is to experimentally test this form of control law on the crane.