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An Adaptive ILC Method for Non-Parameterized Nonlinear Continuous Systems to Track Iteration-Dependent Trajectory

This paper proposes an adaptive Iterative Learning Control (ILC) method for no-parameterized nonlinear continuous systems to track iteration-dependent reference trajectory. The adaptive ILC method releases the general requirement in adaptive ILC community that the control gain matrices of the plants are real asymmetric or even positive-definite. Under the iteration-dependent reference trajectory and unknown external disturbance, the proposed adaptive ILC controller with a simple structure, which includes only two iterative variables, is able to guarantee the convergence of ILC tracking errors. A numerical example is used to verify the effectiveness of the proposed Adaptive ILC method.