High-order internal model-based iterative learning control design for nonlinear distributed parameter systems

This article deals with the problem of iterative learning control algorithm for a class of nonlinear parabolic distributed parameter systems (DPSs) with iteration-varying desired trajectories. Here, the variation of the desired trajectories in the iteration domain is described by a high-order internal model. According to the characteristics of the systems, the high-order internal model-based P-type learning algorithm is constructed for such nonlinear DPSs, and furthermore, the corresponding convergence theorem of the presented algorithm is established. It is shown that the output trajectory can converge to the desired trajectory in the sense of(L-2,lambda)-norm along the iteration axis within arbitrarily small error. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.