Intelligent learning control for a class of nonlinear dynamic systems

A controller is presented which guarantees system stability by using a feed back controller coupled with an intelligent compensator, and achieves preci se tracking by using a set of iterative learning rules. In the feedback plu s intelligent controller unit, the feedback control part stabilises the ove rall closed-loop system and keeps its error bounded, and the intelligent co mpensator estimates and compensates for the nonlinear part of the system, t hereby 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 le arning rule is used to update the parameters of the intelligent compensator , thereby identifying the uncertain nonlinearity as closely as possible.