Current Iteration Tracking Error Assisted Iterative

A simple iterative learning controller (ILC) is proposed for the tracking control of uncertain discrete-time non-linear systems performing the repetitive tasks. The tracking error of the current learning iteration is utilized in the ILC updating law. It is proven that, under relaxed conditions, the nal tracking error is bounded in the presence of uncertainty, disturbance and the ini-tialization error. Furthermore, the tracking error bound and the ILC convergence rate can be tuned by the learning gain of the current iteration tracking error in the ILC updating law. The eeectiveness of the proposed ILC scheme is illustrated by a simulation.