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A novel design of iterative learning control with pure feedforward structure

A new design framework of feedforward ILC is developed for nonlinear systems in this work. By supposing that there exists a desired nonlinear controller, two dynamical linearization methods are proposed for the nonlinear controller. And then, a CFDL-ILC and a PFDL-ILC are presented. Comparatively, the PFDL-ILC is similar to the higher order ILC schemes that more errors of previous iterations are used. The proposed approaches are data-driven and no process model is required for the controller design and analysis. The availability of the proposed approaches is further confirmed by simulation results.