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First, the problem is formulated, in which the tracking _target is selected as varying-amplitude and biased-measured. Then, the process of the ILC algorithm based on a variable-gain-proportional-integral scheme is discussed, in which the magnitude coefficient is defined and calculated by orthogonal projection and utilised to redefine the error and build the refreshment algorithm of the input. Next, the convergence of the algorithm is analysed and the applicational simulation is conducted. 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