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A conception of real-time iterative learning control is first introduced in this paper. Based on the criterion of error convergence, a PID type of learning control algorithm for nonlinear systems is presented and the convergence condition is given. Compared with an off-line iterative learning control algorithm, the new method has a good global convergence property, simple structure, and small computations. The new approach can be used in online control. The results of application to AC-servomotor control show that this method is highly robust to model changes.