Iterative Learning Control for Nonsmooth Dynamical Systems

In this paper, two approaches to iterative learning control for nonsmooth dynamical systems are considered. If the system satisfies certain passivity conditions, a simple update law may be applied. For more general dynamical systems, an iterative update algorithm based on a quadratic optimal control problem is considered. The passivity approach does not require model information but it may be restrictive. The optimal control approach is general, but requires model information for its implementation. A mechanical system with dry friction is used as a simulation example for the comparison between the two approaches.