Combined adaptive learning control for a class of LTV systems

Abstract

In this paper, a new combined adaptive iterative learning control algorithm is proposed for a class of high order linear time-varying (LTV) systems which is repeatable over a finite time interval. The structure of iterative learning control system based on model reference adaptive control scheme is given, and adaptive learning law in both time-domain and iteration-domain is designed for time-invariant and time-varying parameters by using Lyapunov stability theory. The proposed algorithm can be applied to linear systems with time-varying and time-invariant parameters simultaneously. The convergence performance and states tracking accuracy are analyzed in details. Finally the effectiveness of the proposed algorithm is demonstrated by simulations.