Newton-method based iterative learning control method for nonlinear systems

Abstract

Iterative Learning Control (ILC) has been an intensely researched area in the past decade. Significant progress has been achieved in terms of both theory and applications of ILC to industrial problems. This paper focuses on applying ILC to nonlinear system models. The main result of this paper is a new nonlinear ILC algorithm that utilizes a special form of the Newton method. This special form allows one to decompose the original nonlinear ILC problem into a sequence of linear time-varying ILC problems. Conditions for the semi-local convergence of the new ILC algorithm are established.