非正则线性系统的闭环P型迭代学习控制

迭代学习控制是改善具有重复运行性质过程的跟踪性能的有效方法。开环迭代学习控制学习周期长，在迭代学习的初期容易出现不稳定和高增益的现象。对非正则系统的迭代学习控制，需要采用高阶微分学习律。该文针对一类非正则线性定常连续系统，讨论了闭环P型迭代学习控制律，给出并证明了闭环P型迭代学习控制律的收敛性条件的两个定理，解决了非正则系统的P型迭代学习控制问题。仿真实例说明闭环迭代学习律的有效性和快速性。

A Closed-loop P-type Iterative Learning Control for Irregular Linear System

Iterative learning control is an effective method to improve tracking performance of process which run repetitively. But the learning period of opened-loop iterative learning control is long,and the unstable and high gain phenomena may be taken place during the initial stage of iterative learning control. And high order differential learning law must be adapted for irregular systems. The closed-loop P-type iterative learning control law is discussed for a class of irregular linear continuous-time system,two theorems about the convergence condition of the closed-loop P-type iterative learning control law are proposed and proved. The P type iterative learning control problem of irregular systems is solved. The simulation example verifies the effectiveness of closed-loop iterative learning control law.