Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Graphical interpretation of Eq. (11)

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: RMC region example for (a) W3(ejθ) = 0, and (b) W3(ejθ) ≠ 0

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Illustration of how the RMC region changes with respect to W1(ejθ), W2(ejθ), and W3(ejθ)

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Achieving RMC for the example modeling uncertainty region: (a) at ω1 and (b) at ω2

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Illustration of the trade-off between (a) convergence speed and robustness and (b) steady-state tracking error and robustness

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Performance surface for NO-ILC

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Bode plot of system model and uncertainty

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: RMC disk for Example 1 at different frequencies: (a) 3.72 rad/s and (b) 16.63 rad/s

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Monotonic convergence of tracking error and input difference in the iteration domain for Example 1

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Comparison of the tracking error for the second plant in Example 3 with different W3(z) designs at 27.48 rad/s after tenth iteration

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: (a) Robustness at different frequencies for W3,Ex2(z) and W3,Ex3(z) and (b) two-norm of tracking error in iteration domain for Example 3

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: (a) Robustness at different frequency for W2,Ex1(z) and W2,Ex3(z) and (b) two-norm of tracking error in iteration domain

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Tracking error and input difference in iteration domain for Example 2

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: RMC disk for Example 2 at different frequencies: (a) 7.90 rad/s and (b) 31.51 rad/s

Date of download: 11/5/2017 Copyright © ASME. All rights reserved. From: A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error J. Dyn. Sys., Meas., Control. 2017;140(2):021004-021004-10. doi:10.1115/1.4037271 Figure Legend: Bode plot of system model and uncertainty range for Example 2