Browsing Engineering and Informatics by Subject "Iterative learning control (ILC)"
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Nussbaum gain based iterative learning control for a class of multi-input multi-output nonlinear systems.An adaptive iterative learning control(ILC) approach is proposed for a class of multi-input multi-output (MIMO) uncertain nonlinear systems without prior knowledge about system control gain matrices. The Nussbaum-type gain and the positive definite discrete matrix kernel are proposed for dealing with selection of the unknown control gain and learning of the repeatable uncertainties, respectively. Asymptotic convergence for a trajectory tracking within a finite time interval is achieved through repetitive tracking. Simulations are carried out to show the validity of the proposed control method.