关键字：Discrete time control systems;Adaptive control systems - Boundary layers - Digital control systems - Errors - Fuzzy inference - Fuzzy logic - Fuzzy neural networks - Learning algorithms - Random errors - Two term control systems;Adaptive iterative learning control - Approximation errors - Certainty equivalent - Internal signals - Lyapunov like analysis - Nonaffine nonlinear discrete-time systems - Simulation example - Unknown control direction

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