开环节迭代学习，给出一个框架，用于初级者学习(In precision systems that repeatedly execute the same task,
iterative learning control (ILC) may be adopted for rejection of iteration-independent repetitive disturbances and improvement of trajectory tracking. However, in practice, non-repetitive dis- turbances also exist and may overlap with the repetitive ones in the frequency domain. Such non-repetitive disturbances greatly limit or even degrade the achievable performance of the stan- dard ILC algorithm. In)