An Iterative Learning Control for a Class of Partially Feedback Linearizable Systems

A class of single-input single-output nonlinear systems which are partially linearizable by state feedback is considered: feedback linearizable systems are included in such a class; no parametrization is required for the uncertainties which are required to satisfy the matching condition. Periodic reference signals with known period are to be tracked by the output. Provided that known bounding functions on the uncertainties are available, a state feedback iterative learning control is designed which achieves asymptotic output tracking and guarantees bounded closed loop signals from any intial condition. The novel control tecnhique is illustrated for a single-link robot arm.