PD

This article investigates the iterative learning control problem for linear continuous systems with fixed initial shifts. The systems have arbitrary relative degree and PD-type learning schemes are proposed. Under the effect of the PD-type learning schemes, the output-limiting trajectory is constructed. Based on the contraction mapping method, we show that the schemes can guarantee that the output of the iterative system converges uniformly to the output-limiting trajectory on the finite-time interval as the iteration index tends to infinity. A simulation example is used to illustrate the effectiveness of the proposed method