A New Iterative Learning Control Scheme Based on Damped Newton Method for Nonlinear Systems

摘要

A new iterative learning control scheme based on damped Newton method for nonlinear systems is proposed. Originated from the Newton method, this new algorithm has advantage of the fast convergence speed. New parameter with clear structure is employed here. Furthermore, sufficient conditions for convergence of this new Newton-type method are given, and the proposed algorithm ensures the tracking error converges to zero and the sequence of the input is convergent with order 2 speed. Finally, the structure of the algorithm is entirely investigated.