Abstract
In this paper, different cases that describe the benefit of using a complementary control method together with classics controllers, applied to nonlinear discrete-time systems are presented. A high-order iterative learning controller, assisted by a feedback controller, is proposed, with the consideration of a control saturater. Tracking error bounds are functions of the bounds of uncertainty, disturbance, and re-initialization error and. in the case of absence of this elements, tracking error bounds tend to 0.
Cuvinte cheie
iterative learning control
nonlinear systems
discrete systems
exogenous disturbance
desired trajectories
P-type ILC
input saturater.