Iterative learning control for a class of nonlinear uncertain systems

In this paper,an iterative learning control method based on Lyapunov-like synthesis is presented for a class of nonlinear uncertain systems running in the limited time interval.The learning control strategy is used for handling those system uncertainties with known bounded functions while it is not dealt with the conventional robust control methods in this method.The discontinuous function is not be used in the controller,so the chattering phenomenon is avoided.Theoretical analysis shows that all variables involved in closed-loop system are bounded in this method and the tracking error is guaranteed to converge to zero over entire time interval.Numerical simulation results show that the algorithm is effective.