An alternative update formula for non-linear model-based iterative learning control

摘要

The conventional iterative learning control (ILC) algorithm for modelbasedILC of non-linear systems is presented with the use of a nonlinearinverse model as ILC compensator. The non-linear inversemodel is solved with stable inversion. In addition, an alternative ILCalgorithm for model-based ILC of non-linear systems is developed,also with using a non-linear inverse model as ILC compensator.Some connections between the conventional and alternative ILCalgorithms and Picard, Mann and Ishikawa iterations are explored. Theconventional and alternative algorithms are compared in a number oftheoretical examples.