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自动化学报 2005
未知相对度非线性系统的一阶D型迭代学习控制, PP. 555-561 Keywords: Iterativelearningcontrol,relativedegree,gainofrelativedegree,D-type,dummymodel,invertiblebounded Abstract: ？TheclassicalD-typeiterativelearningcontrollawdependscruciallyontherelativedegreeofthecontrolledsystem,highorderdifferentialiterativelearninglawmustbetakenforsystemswithhighorderrelativedegree.Itisverydifficulttoascertaintherelativedegreeofthecontrolledsystemforuncertainnonlinearsystems.Afirst-orderD-typeiterativelearningcontroldesignmethodispresentedforaclassofnonlinearsystemswithunknownrelativedegreebasedondummymodelinthispaper.Adummymodelwithrelativedegree1isconstructedforaclassofnonlinearsystemswithunknownrelativedegree.Afirst-orderD-typeiterativelearningcontrollawisdesignedbasedonthedummymodel,sothatthedummymodelcantrackthedesiredtrajectoryperfectly,andthecontrolledsystemcantrackthedesiredtrajectorywithinacertainerror.Thesimulationexampledemonstratesthefeasibilityandeffectivenessofthepresentedmethod.
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