Table 3. End Point Tracking Error Comparison Study.

end point tracking error
	case study 1			case study 2
batch number	heuristic-based approach	batch-to-batch ILC	proposed approach	heuristic-based approach	batch-to-batch ILC	proposed approach
batch 1	0.0456	0.0456	0.0456	0.0602	0.0602	0.0602
batch 2	0.0422	0.0374	0.0375	0.0570	0.0477	0.0526
batch 3	0.0409	0.0299	0.0262	0.0540	0.0356	0.0408
batch 4	0.0358	0.0228	0.0136	0.0510	0.0353	0.0301
batch 5	0.03288	0.0163		0.0482	0.0334	0.02
batch 6	0.0299	0.0101		0.0454	0.029	0.0146
batch 7	0.027			0.0427	0.0233
batch 8	0.0242			0.0401	0.0233
batch 9	0.0215			0.0375	0.0134
batch 10	0.0189			0.0350
batch 11	0.0163			0.0326
batch 12	0.0138			0.0302
batch 13				0.0279
batch 14				0.0257
batch 15				0.0235
batch 16				0.0214
batch 17				0.0193
batch 18				0.0173
batch 19				0.0154
batch 20				0.0135