A robust high-order P-type iterative learning controller using current iteration tracking error

A high-order P-type updating law, in which the current iteration tracking error (CITE) is employed, is proposed for iterative learning control (ILC ) of a class of uncertain nonlinear repetitive systems. Uniform boundedness of the tracking error is established in the presence of uncertainty, disturbance and initialization error. The bound and the ILC convergence rate can be adjusted by tuning the learning gain of the CITE.