Iterative learning control based on modified steepest descent control for output tracking of nonlinear non-minimum phase systems

Iterative learning control (ILC) refers to a class of self-tuning controllers where the system performance of a specified task is gradually improved or perfected based on the previous performance of identical tasks. In this paper, based on the modified steepest descent control we proposed the iterative learning control algorithm for nonlinear nonminimum phase system. By applying the modified steepest descent control we have the extended system with relative degree greater one than original systems. By extending result of Gosh, cs [1], the convergence of algorithm is guaranteed.