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Iterative learning control (ILC) is used to control systems that operate in a repetitive mode, improving track-ing accuracy of the control by transferring data from one repetition of a task, to the next. In this paper an op-timal iterative learning algorithm for discrete linear systems is analyzed and a solution for its attainment is proposed. Finally the mathematical proof of the algorithm’s causal formulation is also provided in its com-plete form, since its implementation requires its causal formulation

Analysis and Causal Formulation Proof of an Optimal Iterative Learning Algorithm