A novel terminal iterative learning control with high-order error information

This manuscript proposes a novel nonlinear high-order terminal iterative learning control (TILC) is proposed for repeatable discrete-time systems by using the terminal tracking error at the endpoint only. A linear dynamical difference formulation in the iteration domain is developed for the original controlled plant. Then the nonlinear high-order TILC approach is proposed, including a parameter iterative updating law, a higher-order control law, and a reset algorithm together. More terminal output tracking errors in previous iterations are utilized to enhance control performance. Moreover, the presented approach is data based, and only the controller does not includes any model information in its design and analysis. The simulation result verifies the feasibility of the proposed method.