We address an iterative learning control (ILC) method for overcoming initial value problem caused by local convergence methods.\nIntroducing a feedback recursive form of tracking errors into iterative learning law, this algorithm can avoid a crude linear\napproximation to nonlinear plants to reach global convergence property. The algorithm�s structure is entirely illustrated. Under\nassumptions, it is guaranteed that tracking errors of the closed-loop system converge to zero. Besides, we discuss the roles\nof parameters in iterative learning law for algorithm realization, and a nonlinear case study is presented to demonstrate the\neffectiveness and tracking performance of the proposed algorithm
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