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Iterative learning controllers with initial impulsive action are characterized for /th-order partially irregular linear time-invariant multivariable plants, i.e. plants with rank-defective first, second, …, /lth Markov parameters but full-rank (l + 1)th Markov parameters (l=1.2.3, …) These general results ate illustrated by the presentation of results for the Iterative learning of a typical first-order partially irregular liner multivariable plant
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