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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.

Reviewer: K.L.Moore (Pocatello)

### MSC:

93B52 | Feedback control |

93B40 | Computational methods in systems theory (MSC2010) |

93C10 | Nonlinear systems in control theory |

Full Text:
DOI

### References:

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This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.