On the integrated learning control method

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A new integrated learning control scheme is developed by integration of iterative learning, adaptive robust and direct learning control. By factorizing the system uncertainties into known scaling matrix and unknown basis function vectors as in direct learning control, the new learning control scheme can deal with non-uniform trajectory tracking problems. By incorporating the adaptive robust control scheme, the integrated learning system is able to handle both structured and unstructured system uncertainties. By means of Lyapunov's direct method, the integrated learning control is analyzed for a class of non-linear and time varying systems.