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In this paper, an event-triggered P-type iterative learning control (ILC) scheme is developed, where the control input update only occurs in the event-triggered iterations. The event-triggered iterations are determined by a pre-defined event-triggering condition, which is composed of two parts, one is the threshold condition to ensure convergence, the other is derived from the Lyapunov stability principle to ensure stability. The convergence analysis theorem is deduced mathematically. Further, using similar steps, event-triggered PD-type ILC and event-triggered PID-type ILC are proposed. Finally, the simulation results illustrate that the presented algorithms can ensure that the error converges and make the control input update less frequently, so as to realise the goal of saving resources.

Event-triggered iterative learning control for linear time-varying systems