This model employs the idea presented in http://dx.doi.org/10.1109/TNN.2004.824268 . Some modifications described in http://www.mathworks.com/matlabcentral/fileexchange/49023-b-spline-based-repetitive-neurocontroller are implemented. A very concise C-code (yet still readable) developed by Michal Malkowski for http://www.mathworks.com/matlabcentral/fileexchange/49077-b-spline-network-based-repetitive-controller--c-code- is used. The plant is identical as in http://www.mathworks.com/matlabcentral/fileexchange/48791-iterative-learning-motion-control . This solution comes with some drawbacks. I encourage you to identify their roots on your own -- and fix them :). The quadratic spline is more smooth than the linear one but is it better? When testing electric drives always examine the shape of the current(s). And remember to click the Build button in the S-Function block before attempting to run the model. More info: M. Malkowski, B. Ufnalski and L. M. Grzesiak, B-spline based repetitive controller revisited: error shift, higher-order polynomials and smooth pass-to-pass transition, 19th International Conference on System Theory, Control and Computing (ICSTCC), 2015, http://ufnalski.edu.pl/proceedings/icstcc2015/ .