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PD-Type iterative learning control for nonlinear time-delay system with external disturbance

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3 Author(s)
Baolin, Zhang ; Coll. of Information Science and Engineering, Ocean Univ. of China, Qingdao 266071, P. R. China, Dept. of Information and Mathematics Sciences, China Jiliang Univ., Hangzhou 310018, P. R. China ; Gongyou, Tang ; Shi, Zheng

The PD-type iterative learning control design of a class of affine nonlinear time-delay systems with external disturbances is considered. Sufficient conditions guaranteeing the convergence of the n-norm of the tracking error are derived. It is shown that the system outputs can be guaranteed to converge to desired trajectories in the absence of external disturbances and output measurement noises. And in the presence of state disturbances and measurement noises, the tracking error will be bounded uniformly. A numerical simulation example is presented to validate the effectiveness of the proposed scheme.

Published in:

Systems Engineering and Electronics, Journal of  (Volume:17 ,  Issue: 3 )