First-order D-type Iterative Learning Control for Nonlinear Systems with Unknown Relative Degree

摘要

cqvip:The classical D-type iterative learning control law depends crucially on the relative degreeof the controlled system, high order di?erential iterative learning law must be taken for systems withhigh order relative degree. It is very di?cult to ascertain the relative degree of the controlled systemfor uncertain nonlinear systems. A first-order D-type iterative learning control design method ispresented for a class of nonlinear systems with unknown relative degree based on dummy model inthis paper. A dummy model with relative degree 1 is constructed for a class of nonlinear systemswith unknown relative degree. A first-order D-type iterative learning control law is designed basedon the dummy model, so that the dummy model can track the desired trajectory perfectly, and thecontrolled system can track the desired trajectory within a certain error. The simulation exampledemonstrates the feasibility and e?ectiveness of the presented method.