一般非线性离散系统的闭环迭代学习控制研究

Closed-Loop Iterative Learning Control for General Nonlinear Discrete System

通过对开环迭代学习控制的不足进行分析，提出了基于当前输出误差的闭环P型迭代学习控制律，针对一般非线性离散系统，给出了学习控制的收敛条件。仿真结果表明，简单的闭环P型迭代学习控制即能使非线性系统实现对期望轨线的无差跟踪。

Based on the analyses of deficiency of open-loop iterative learning controller, a closed-loop P-type iterative learning controller which based on current output error is proposed. Its convergence condition is given according to the general nonlinear discrete system. Simulation results show that a simple controller can track arbitrary desired trajectory without error.