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Learning control is an iterative approach to the problem of improving transient behavior for processes that are repetitive in nature. In this article, we present some results on iterative learning control. A complete review of the literature is given first. Then, a general formulation of the problem is given. Next, we present a complete analysis of the learning control problem for the case of linear, time‐invariant 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‐horizon problems it is possible to design a learning control algorithm that converges, with memory, in one step. Finally, a time‐varying learning controller is given for controlling the trajectory of a nonlinear robot manipulator. A …