A New Dynamical Linearization based Adaptive ILC for Nonlinear Discrete-time MIMO Systems

Key Words:Adaptive iterative learning control; Nonlinear discrete-time System; dynamical linearization; Random initial condition; Iteration-varying target trajectories

Abstract:Most of the available results of adaptive iterative learning control (AILC) hitherto have considered the control systems with known linearly parameterized structures. A dynamical linearization approach is developed for a general nonlinear multiple input multiple output systems. And then a discrete-time adaptive ILC approach is presented to deal with the ILC problems of nonlinear MIMO systems with iteration-varying initial error and reference trajectory. The controller design and analysis is completely data-driven without using any modeling information of the plant, but the measured I/O data only. The almost perfect tracking performance is asymptotically guaranteed by rigirous mathematical analysis.

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