State-tracking iterative learning control in frequency domain design for improved intersample behavior

Wataru Ohnishi*, Nard Strijbosch, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review


Iterative learning control (ILC) yields perfect output-tracking performance at sampling instances for systems that perform repetitive tasks. The aim of this article is to develop a framework for a state-tracking ILC that mitigates oscillatory intersample behavior, which is often encountered in output tracking ILC. As a framework for the analysis, the stability of the iterative domain including the robustness filter and the asymptotic signal is formulated. In addition, as a framework for the design, the design method using frequency response data to reduce the modeling effort, the learning filter design based on inversion, and the specific design procedure of the robustness filter are presented. The designed method is successfully applied to a motion system and it is shown that the presented state-tracking ILC provides better intersample behavior than the standard output-tracking ILC.

Original languageEnglish
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Publication statusPublished - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • frequency domain design
  • intersample behavior
  • iterative learning control
  • multirate inversion
  • system inversion


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