A PID-IMP type iterative learning controller

A PID-IMP type iterative learning controller is proposed to harness the nonrepetitive output disturbance with known repeating patterns. A new uniform framework to design the PID-IMP type ILC controller and new theory to optimize the parameters are established for much wider applicable field. The algorithm has higher convergence speed and convergence precision than previous algorithms. Simulation examples are presented to illustrate the effectiveness of the proposed method.