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Next, we present a complete analysis of the learning control problem for the case of linear, time\u2010invariant plants and controllers. This analysis offers: (1) insight into the nature of the solution of the learning control problem by deriving sufficient convergence conditions; (2) an approach to learning control for linear systems based on parameter estimation; and (3) an analysis that shows that for finite\u2010horizon problems it is possible to design a learning control algorithm that converges, with memory, in one step. Finally, a time\u2010varying learning controller is given for controlling the trajectory of a nonlinear robot manipulator. A brief simulation example is presented to illustrate the effectiveness of this scheme.<\/jats:p>","DOI":"10.1002\/rob.4620090502","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:12:47Z","timestamp":1183727567000},"page":"563-594","source":"Crossref","is-referenced-by-count":174,"title":["Iterative learning control: A survey and new results"],"prefix":"10.1002","volume":"9","author":[{"given":"Kevin L.","family":"Moore","sequence":"first","affiliation":[]},{"given":"Mohammed","family":"Dahleh","sequence":"additional","affiliation":[]},{"given":"S. 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