Iterative learning controller design based on feedback control (Q2766049)

An iterative learning controller based on feedback control is presented for a class of repetitive nonlinear time-varying systems with uncertainty and disturbance. This iterative learning controller is designed as a high-order PD-type and acts on the plant as a feedforward. This paper gives the convergence conditions of the proposed controller and proves that the tracking error bound is a linear function of the bounds of the reinitialization error and output disturbance to the system. At the same time the final tracking error bound can be adjusted by tuning the feedback gains. The effectiveness of the proposed controller is demonstrated by simulation and experimentation.