非线性系统闭环P型迭代学习控制的收敛性

本文得到并证明了当被控系统的状态方程为一类非线性方程时，采用闭环Ｐ型学习律迭代学习控制的收敛的充分条件和必要条件，最后，我们给出了典型的仿真结果。

The Convergence of Closed-Loop P-Type Iterative Learning Control of Nonlinear System

The convergence of learning algorithm is one of the most important problems in iterative learning control. The necessary and sufficient conditions for the convergence of iterative learning control with closed loop P type algorithm are provided and proved in the case that the state equation of the controlled system is of a general nonlinear form,which shows that the convergence conditions in the nonlinear case are independent of the concrete form of the state equation, just as in the linear case. And what is more,the conditions given in this note are weaker than the known results.