基于反馈控制的迭代学习控制器设计

针对具有不确定项或干扰项的重复非线性时变系统，提出了基于反馈控制的迭代学习控制器，其中迭代学习控制器设计为高阶PD型，它以前馈的形式作用于对象，在满足一定的收敛性条件下，证明了该控制器的跟踪误差界是系统初始状态误差界和系统输出干扰项界的线性函数，同时改变反馈增益可以调整系统的最终跟踪误差界，仿真与实验均表明了该方法的有效性。

Iterative Learning Controller Design Based on Feedback Control

An iterative learning controller based on feedback control is presented for a class of repetitive nonlinear time varying systems with uncertainty and disturbance. This iterative learning controller is designed to high order PD type and acts on plant as a feedforward. This paper gives the convergence conditions of the proposed controller and proves that the tracking error bound is a linear function of the bounds of reinitialization error and output disturbance to the system. At the same time, the final tracking error bound can be adjusted by tuning the feedback gains. The effectiveness of the proposed controller is demonstrated by simulation and experimentation.