This paper addresses a unified framework for a practical iterative learning control from a robust adaptive control viewpoint. It shows that if a Lyapunov method based on robust adaptive control scheme is available, and the Lyapunov function satisfies certain conditions, then it is straightforward to extend the robust adaptive controller to handle the practical iterative learning control problem in the system under consideration. Two examples are provided to show the application of the design method. The corresponding simulation results are given to verify the effectiveness of the control algorithm proposed in this paper.
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