MODEL BASED ITERATIVE LEARNING CONTROL (MILC)FOR UNCERTAIN DYNAMIC NON-LINEAR SYSTEMS

摘要

Model based Iterative Learning Control (MILC) is proposed for a class of time varying nonlinearrnuncertain systems. Convergence of MILC is analyzed and the uniform boundedness of tracking errorrnis obtained in the presence of uncertainty and disturbances. It is shown that the learning algorithm notrnonly guarantees the robustness, but also improves the learning rate despite of the presence ofrndisturbances and slowly varying desired trajectories in succeeding iterations. The effectiveness of thernproposed MILC is presented by simulations.