PD型的迭代学习控制程序，可以用于控制一个单臂机械手等，比Pid算法简单一点，但效果不如pid简单-PD-type iterative learning control procedures can be used to control a robot arm and so on, Pid algorithm than a simple point, but not as good as simple pid

　迭代学习控制的直线电机的运动 　　系统，及其收敛性分析仿真-Iterative Learning Control for Linear Motor Motion System