Iterative learning control for a general class of nonlinear feedback systems

Abstract

An iterative learning control is studied for a general class of nonlinear systems with a feedback controller and an input saturator. The nonlinear systems of the form x/spl dot/=f(x,u), y=h(x,u) are considered. The learning law updates the feedforward input from the plant input of the previous trial. A sufficient condition which guarantees the convergence of the learning is given.