Robustness Analysis of Open-closed-loop D-type Iterative Learning Control Algorithm for Nonlinear Systems with Deviations on Initial State

This paper discusses the robustness of a class of non-linear system with Open-closed-loop D-type iterative learning control (ILC) algorithm under the condition of having initial state errors, when the system reaches the convergence condition. The theory analysis indicates, when initial state errors were bounded, the ILC scheme is robust. The control error will converge to some neighborhood of desired control value, whose breadth is associated with the disturbance bound during the operation of nearly two iterative learning and not associated with initial control input. We can conclude that the system will reach desired value more closely when the system has less disturbance.