방법 비교

	반복 학습 제어	슬라이딩 모드 제어
분야	제어이론	제어이론
계열	Machine learning	Machine learning
기원 연도	1984	1977
창시자	Suguru Arimoto	Vadim Utkin
유형	algorithm	algorithm
원전	Arimoto, S., Kawamura, S., & Miyazaki, F. (1984). Bettering operation of robots by learning. Journal of Robotic Systems, 1(2), 123-140.	Utkin, V. I. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212-222.
별칭	ILC, Learning Control, Repetitive Control	SMC, Variable Structure Control, Robust Control with Discontinuities
관련	4	4
요약	Iterative Learning Control (ILC) is a control method for systems that perform the same task repeatedly (trajectory tracking over a fixed time interval). The key idea is to use error information from previous trials to update the input for the next trial, progressively improving tracking accuracy. Pioneered by Arimoto et al. in 1984, ILC is ideal for robotic manufacturing, semiconductor processing, and any application where the same motion must be repeated many times with high precision.	Sliding Mode Control (SMC) is a robust nonlinear control technique that forces a system to follow a predetermined surface (the sliding surface) in state space by using discontinuous (bang-bang or high-frequency switching) control inputs. Developed by Utkin and further advanced by Slotine, SMC is remarkably insensitive to parameter variations and disturbances—once the system reaches the sliding surface, its behavior is determined solely by the surface geometry, not by uncertainty. This makes SMC powerful for nonlinear systems, manipulators, and uncertain systems where robustness is paramount.