Optimizing Learning Convergence Speed and Converged Error for Precision Motion Control

This brief paper considers iterative learning control (ILC) for precision motion control (PMC) applications. This work develops a methodology to design a low pass filter, called the Q-filter, that is used to limit the bandwidth of the ILC to prevent the propagation of high frequencies in the learning. A time-varying bandwidth Q-filter is considered because PMC reference trajectories can exhibit rapid changes in acceleration tha