New iterative learning control approaches for nonlinear non-affine MIMO dynamic systems

Abstract

Iterative learning control is a kind of functional approximation approaches. In this paper, new types of iterative learning control (ILC) approaches are proposed and analyzed for nonlinear non-affine Multi-input-multi-output (MIMO) dynamic systems. First, the important learning performance indices - convergence factor (Q-factor) and convergence order (Q-order) are introduced such that the convergence speed of various ILC approaches can be evaluated in a more rigorous and quantitative manner. Second, "non-linear" ILC: Newton-type ILC approach is proposed to complement the existing linear-type ILC approach in the sense of convergence range and convergence speed. Through rigorous analysis facil..