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Abstract and Applied Analysis
Volume 2013, Article ID 684642, 13 pages
Research Article

Stability Analysis of High-Order Iterative Learning Control for a Class of Nonlinear Switched Systems

1School of Electrical Engineering & Automation, Henan Polytechnic University, Jiaozuo 454003, China
2Henan Provincial Open Laboratory for Control Engineering Key Discipline, Henan Polytechnic University, Jiaozuo 454003, China

Received 22 March 2013; Revised 18 June 2013; Accepted 18 June 2013

Academic Editor: Josef Diblík

Copyright © 2013 Xuhui Bu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers the stability of high-order PID-type iterative learning control law for a class of nonlinear switched systems with state delays and arbitrary switched rules, which perform a given task repeatedly. The stability condition for the proposed high-order learning control law is first established, and then the stability is analyzed based on contraction mapping approach in the sense of norm. It is shown that the proposed iterative learning control law can guarantee the asymptotic convergence of the tracking error for the entire time interval through the iterative learning process. Two examples are given to illustrate the effectiveness of the proposed approach.