Robust adaptive iterative learning control for a class of second order uncertain nonlinear systems

Based on Lyapunov stability theory and backstepping technology, a robust adaptive iterative learning control algorithm is proposed for a class of second order nonlinear systems with unknown disturbance and time-varying parameters. The unknown parameters are estimated in time-domain and the disturbance is inhibited by robust control. Feedback control is also introduced to improve the control performance. The algorithm is suitable for systems both under identical initial condition and alignment condition. Simulation results show the effectiveness of the algorithm.