Iterative
learning control is a controlling tool developed to overcome periodic
disturbances acting on repetitive systems. State-feedback ILC controller was
designed based on the use of the small gain theorem. Stability conditions were
reported in the case of past error and current error feedback schemes based on
Singular values. Disturbances acting on the load of the system were reported for the case of
past error feedforward only which kept the investigation of the current error
feedback as an open question. This paper develops a comparison between the past
error feedforward and current error feedback schemes disturbance conditions in
singular values. As a result, the conditions found highly support the use of
the past error over the current error feedback.
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