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  _____     ______    ______    _____     _____   
 |__  //   /_   _//  /_   _//  |  ___||  |__  //  
   / //     -| ||-     | ||    | ||__      / //   
  / //__    _| ||_    _| ||    | ||__     / //__  
 /_____||  /_____//  /__//     |_____||  /_____|| 
 `-----`   `-----`   `--`      `-----`   `-----`

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Text this: An iterative learning controller with initial state learning