时变系统的迭代学习控制

ITERATIVE LEARNING CONTROL FOR TIME-VARYING SYSTEMS

针对参数未确知时变系统，提出了一种新的迭代学习控制律，在新控制律中，除了引入前次学习过程误差信息外，还引入了当前学习过程误差信息，从理论上证明了新控制律的收敛性，对离散时变系统和连续时变系统的两个实例进行了仿真研究，理论分析和实例研究结果表明，所提出的新控制律具有较高的学习速度和对初始误差良好的鲁棒性。

In this paper,a new iterative learning control rule for time-varying systems with un-known parameters is presented.The new learning control rule is not noly used in the kthlearning error(past error)but also used in the (k+1)th learning error(current error),Con-vergence of the new rule has been proved. Simulation studies for discrete time-varying systemand continuous time varying system have been carried out. Results of simulation show thehigher learning speed of the proposed learning control rule and its robustness to the intial er-ror.