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<p>This paper focuses on the high-precision tracking control problem of nonlinear systems subject to nonrepeatable disturbances. In order to handle the nonrepeatable disturbances properly, a finite-time extended state observer (FTESO) is firstly developed, based on which a novel robust iterative learning control (ILC) scheme is proposed. In such a case, the ILC approach is endowed with the ability to handle iteration-varying disturbances, which thus widens its application scope. The convergence of the proposed FTESO-based ILC algorithm is analyzed rigorously under the framework of composite energy function methodology. Finally, the effectiveness of the proposed method is validated by implementing on a permanent magnet synchronous motor system.</p>

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Finite-time extended state observer-based iterative learning control for nonrepeatable nonlinear systems

  • 期刊论文

  • 发表日期：

    2025年3月5日

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  • Shiyan Li,
  • Xuefang Li

摘要

This paper focuses on the high-precision tracking control problem of nonlinear systems subject to nonrepeatable disturbances. In order to handle the nonrepeatable disturbances properly, a finite-time extended state observer (FTESO) is firstly developed, based on which a novel robust iterative learning control (ILC) scheme is proposed. In such a case, the ILC approach is endowed with the ability to handle iteration-varying disturbances, which thus widens its application scope. The convergence of the proposed FTESO-based ILC algorithm is analyzed rigorously under the framework of composite energy function methodology. Finally, the effectiveness of the proposed method is validated by implementing on a permanent magnet synchronous motor system.