关键字：Optimal ILC; Terminal ILC; Linear time-varying systems; MIMO; Data-driven control

摘要：This work explores a novel optimal terminal ILC approach to generate a control signal only from the information of the terminal point rather than the whole trajectory. The presented scheme is data-driven using the measured I/O data without knowing any modeling information of the plant. Compared with traditional optimal ILCs, the Markov parameters of the system can be iteratively estimated, which is used as a key part of the control law's learning gain. The stability and convergence is shown in the iteration domain by selecting suitable parameters.

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