Iterative Learning Control: Theoretical Foundations and Design Frameworks


  • Tom Oomen
  • Bing Chu
  • Kira Barton


  • Tom Oomen, Eindhoven University of Technology, Eindhoven, The Netherlands
  • Bing Chu, University of Southampton, United Kingdom
  • Kira Barton, University of Michigan, Ann Arbor, Michigan, USA


Iterative Leaning Control (ILC) and Repetitive Control (ILC) are high performance tracking control design methods for systems working in a repetitive or periodic manner. During the last few decades, they have found many successful applications in a range of areas, e.g.  manufacturing processes, chemical batch processes and next-generation health care. This workshop aims to introduce to the audience the basic design and analysis methods in ILC and RC as well an overview of emerging research and application directions.
Do you also have a system that has the same error for each task? This workshop enables you to learn how to improve the performance of your control system. By the end of the workshop, you will be able to:
• identify (traditional and emerging) applications of ILC and RC,
• design ILC and RC using state-of-the-art methodologies to improve the system’s performance, and
• develop knowledge of future research challenges and opportunities in ILC and RC.
A basic knowledge of feedforward and feedback control is essential, while working knowledge of linear algebra and basic system theory suffices to get familiar with the main ideas. No prerequisite knowledge in ILC and RC is needed.


  • Welcome and Introduction
  • ILC analysis and design in frequency domain, Tom Oomen
  • Time domain ILC analysis and design using lifted form representations, Tom Oomen
  • Break
  • ILC using optimisation based approaches, Bing Chu
  • Experimental demo
  • Lunch
  • Spatial ILC, Kira Barton
  • ILC for point-to-point tracking tasks, Bing Chu
  • Break
  • ILC design using basis functions, Tom Oomen
  • Emerging ILC approaches, Kira Barton