Compared with the above two ILCs, the convergence condition of P-type ILC is much stricter and its robustness is worse. Besides, convergence speed of P-type ILC is much slower than that of D-type ILC.

与这两种迭代学习控制相比，P型迭代学习控制的收敛条件更加严苛，收敛性和鲁棒性较差，而且收敛速度比以上两种控制方法要慢得多。

youdao