Iterative learning control for nonlinear systems via closed-loop

In this paper state feedback partially linearization technique is applied to designing an iterative learning control law for nonlinear systems. At first, closed-loop system formed by applying an appropriate state feedback are studied. Then, a sufficient condition guaranteeing uniform convergence of systems output to the desired output is presented. It follows that the initial state of iteration can be obtained directly by the desired output, part of which is allowed to be shift. Simulation shows the effectiveness of the result