A New Discrete-time Adaptive ILC for Nonlinear Systems with Time-varying Parametric Uncertainties
非线性时变参数不确定系统的自适应迭代学习控制

Using the analogy between the discrete time axis and the iterative learning axis,a new discrete-time adaptive iter- ative learning control (AILC) approach is developed to address a class of nonlinear systems with time-varying parametric un- certainties.Analogous to adaptive control,the new AILC can incorporate a projection algorithm,thus the learning gain can be tuned iteratively along the learning axis.When the initial states are random and the reference trajectory is iteration-varying,the new AILC can achieve the pointwise convergence over a finite time interval asymptotically along the iterative learning axis.