An Intelligent Learning Control Method for a Class of Nonlinear Dynamic Systems
نویسنده
چکیده
This paper presents an intelligent iterative learning control scheme that is applicable to a class of nonlinear systems. The presented controller guarantees system stability by using a feedback controller coupled with an intelligent compensator and achieves precise tracking by using a set of iterative learning rules. In the feedback plus intelligent controller unit, the feedback control part stabilizes the overall closed-loop system and keeps its error bounded, and the intelligent compensator estimates and compensates for the nonlinear part of the system, thereby keeping the feedback gains reasonably low in the feedback controller. In the iterative learning controller, a simple learning control rule is used to achieve precise tracking of the reference signal and a parameter 1 learning rule is used to update the parameters of the intelligent compensator, thereby identifying the uncertain nonlinearity as closely as possible.
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