Security iterative learning control method based on homomorphic encryption

The invention discloses a security iterative learning control method based on homomorphic encryption. The method comprises the following steps: establishing a security iterative learning control system; constructing a security iterative learning controller; inputting the initial unencrypted input signal into a controlled object for control, and outputting an initial unencrypted output signal by the controlled object; the sensor acquires and sequentially performs quantization and encryption processing to obtain an initial encrypted output signal, and inputs the initial encrypted output signal into the cloud platform; and judging whether a tracking error between the unencrypted output signal and the preset reference output signal reaches a preset index or not, performing repeated iteration execution until the tracking error reaches the preset index, completing control of the controlled object, and terminating the control. According to the invention, signal transmission and control signal updating are carried ou