Iterative Learning Control For Some Classes Of Nonlinear Systems

This paper deals with the problems of iterative learning control for three classes of nonlinear systems, which are piece-wise nonlinear system, quasi-one-sided Lipschitz system and degenerate distributed parameter system respectively. The full text are divided into five chapters:In chapter 1, the background and research status of iterative learning control are introduced and the problems remain to be further studied are proposed.In chapter 2, the concept of piece-wise control is proposed for a class of piece-wise nonlinear system. Based on P-type learning scheme and D-type learning scheme, piece-wise iterative learning control law is proposed. Using the Banach fixed-point theorem, it is shown that the output trajectory converges to the desired trajectory under the effect of the piece-wise learning scheme. The effectiveness of the proposed algorithm is verified through simulation.In chapter 3, the ILC algorithm is applied to quasi-one-sided Lipschitz system and the sufficient condition for system convergence under the P-type learning scheme is given. The simulation result verifies the effectiveness of the proposed algorithm.In chapter 4, the problems of iterative learning control for 1-D parabolic and hyperbolic degenerate distributed parameter systems are studied. Iterative learning control laws based on P-type learning scheme are proposed for such degenerate distributed parameter systems which satisfy the general assumptions. Using the Banach fixed-point theorem, it is shown that the output trajectory converges to desired trajectory on 2L space under the P-type learning scheme. The simulation results illustrate the effectiveness of the proposed algorithm.In chapter 5, the conclusion of this paper is given and the problems need to be further studied are presented.