Adaptive ILC for a class of nonlinear discrete-time systems without matching conditions on initial state and reference trajectory

A discrete-time adaptive ILC approach is presented for a class of general nonlinear systems without any assumption of linearly parameterization on the nonlinearities. The controller design and analysis is completely data-driven without using any modeling information of the plant. Only the measured I/O data of the plant is utilized for the presented adaptive ILC mechanism. The almost perfect tracking performance is guaranteed except for the initial time step when both the initial states and reference trajectory are iteration-varying.