Iterative Learning Control Study on Single Inverted Pendulum

Iterative learning control method is proposed for the single pendulum which is a typical fast-speed multi- variable nonlinear absolutely unstable system. The closed loop iterative learning algorithm based on Lyapunov theory is presented, where the sufficient condition of convergence for closed loop iterative learning algorithm is proposed. The closed loop iterative learning control gains are designed through resolving LMI method. Simulation results show the effectiveness and feasibility of the proposed method.