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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 8971407, 7 pages
Research Article

An Iterative Learning Control Design Method for Nonlinear Discrete-Time Systems with Unknown Iteration-Varying Parameters and Control Direction

School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China

Received 16 May 2016; Revised 30 August 2016; Accepted 1 September 2016

Academic Editor: Xuejun Xie

Copyright © 2016 Duo Zhao and Yong Yang. 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.


An iterative learning control (ILC) scheme is designed for a class of nonlinear discrete-time dynamical systems with unknown iteration-varying parameters and control direction. The iteration-varying parameters are described by a high-order internal model (HOIM) such that the unknown parameters in the current iteration are a linear combination of the counterparts in the previous certain iterations. Under the framework of ILC, the learning convergence condition is derived through rigorous analysis. It is shown that the adaptive ILC law can achieve perfect tracking of system state in presence of iteration-varying parameters and unknown control direction. The effectiveness of the proposed control scheme is verified by simulations.