Adaptive iterative learning control for nonlinear time-delay output feedback systems

A design approach of adaptive controller is proposed for a class of nonlinear time-delay output feedback systems. Based on this result, an adaptive iterative learning controller is then designed. The global exact tracking of the trajectory on the specified time interval is achieved and the boundedness of all signals of the close-loop system is ensured. In addition, the requirement of traditional iterative learning control algorithm on the nonlinear functions (such as global Lipschitz condition) is relaxed. The feasibility and advantages of the proposed algorithm are illustrated by a simulation example.