Introduction

Iterative learning control (ILC), as a highly efficient control technology, was formally proposed in 1984 (Arimoto et al. 1984). This control technology is a powerful methodology that aims to improve the performance of dynamic systems by learning from repetition and refining control actions. This technique has applications in various fields, ranging from industrial automation to robotics (Bristow et al. 2006; Li et al. 2013; Riaz et al. 2021), allowing systems to achieve higher accuracy, precision, and stability. Through the process of repeated execution and learning from past experiences, ILC enables systems to adapt and enhance their performance over time.