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Iterative learning control in feedback systems. (English) Zbl 0830.93034

A new iterative learning control scheme is presented to provide tracking control for a class of nonlinear systems. The scheme uses a standard feedback control configuration, but is augmented by a feedforward term that is updated via iterative learning control. A sufficient condition for convergence of the learning controller is given and it is noted that this condition is the same as for the open-loop learning control problem. However, the rate of convergence is shown to be improved in the closed- loop strategy. The performance of the scheme is illustrated via simulation of the tracking control of a two-link manipulator.

MSC:

93B52 Feedback control
93B40 Computational methods in systems theory (MSC2010)
93C10 Nonlinear systems in control theory
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