PD-I(PD)-Type ILC for a Class of Nonlinear Systems

In this paper, we presents a new class of iterative learning control law for a class of nonlinear systems, denoted PD-IPD, which is composed by adding a derivative term in the integrator of PID learning control law. By using Bellman-Gronwall lemma, the simple explicit conditions on the learning gains to ensure convergence are provided in the sense of Lambda norm. An attractive feature of PD-IPD learning law is that it is of faster convergence speed and higher accuracy. The simulation example demonstrates the advantage and effectiveness of PD-IPD learning law.