Abstract
This paper is concerned with an iterative learning control law which enables us to find a control input that generates the desired output exactly over a finite time interval through the repetition of trials. We derive a sufficient condition for nonlinear systems to achieve the desired output by the iterative learning control. Based on this result, we show that the direct transmission term of the plant plays a crucial role in the error convergence of the learning process. Further, we identify the class of plants to which the learning control law is applicable.
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