Iterative learning control for networked nonlinear systems with fading communication

In this paper, an accurate tracking problem for discrete-time nonlinear systems with output fading is investigated. It is assumed that the output signal occurs random fading during the network transmission. Random fading is mainly a multiplier disturbance to the signal, which can be modeled by multiplying a stochastic variable with the original signal. The modified P-type learning algorithm is proposed to solve accurate tracking problem. Then, the convergence of the proposed algorithm in an almost sure sense is analyzed in detail. Finally, the effectiveness of our learning algorithm is verified by numerical simulation.