Cascaded Iterative Learning Control for a Class of Uncertain Time-Varying Nonlinear Systems

We propose a simple recursive iterative learning control (ILC) scheme for a class of uncertain time-varying nonlinear systems. The proposed constructive backstepping-like procedure provides, in a systematic way, a control Lyapunov-like function leading to a simple recursive ILC scheme guaranteeing the existence of a finite time-interval on which a perfect tracking can be achieved when the number of iteration goes to infinity. Simulation results are also provided to show the effectiveness of the proposed ILC scheme