高阶P型学习控制的鲁棒性

通过线性化处理，本文将开闭环配合的高阶Ｐ型迭代学习控制律的适用范围推广到更一般的非线性动态系统。对于ＵＢＢ初始条件和周期干扰，以及渐进重复初始条件和干扰的情形，文中分别证明了学习过程的渐进有界和一致收敛性。仿真结果表明了这类控制器的鲁棒性能。

Robustness of Higher-Order P-Type Learning Control

A feedback-assisted iterative learning control scheme for general nonlinear systems isproposed. With the aid of linearization along the desired trajectories,the asymptotic boundedness ofthe control process is proved in the presence of reinitialization errors and state and output periodicdisturbances. the uniform convergence of the output error is given under asymptotically repetitiveintitial conditions and disturabance constraints. A simulation example is presented to demonstrate therobustness performance of the proposed learning controller.