Iterative learning control for a class of nonlinear system with random packet dropouts

This paper considers the iterative learning control (ILC) for a class of nonlinear systems with random packet dropout. It is assumed that an ILC scheme is implemented via a networked control system (NCS), and that during the packet transfer between the remote plant and the ILC controller packet dropout occurs. A new formulation is employed to model the packet dropout case, where the random dropout rate is transformed into a stochastic parameter in the system´s representation. Through rigorous analysis, it is shown that under some given conditions, the iterative learning control can guarantee the convergence of the output error although some packets are missing. The analysis is also supported by a numerical example.