A model-data integrated iterative learning controller for flexible tracking with application to a piezo nanopositioner

In precise motion systems, feedforward controller is a key component for significant performance enhancement. However, traditional iterative learning control (ILC) works efficiently under strictly repetitive reference input, and the performance of model-based feedforward controllers is limited by the non-minimum phase zeros and modeling uncertainties during executing tasks. In this paper, a model-data integrated ILC is proposed for flexible...