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Robust high-order P-type iterative learning control for a class of uncertain nonlinear systems

The high-order P-type iterative learning control (ILC) algorithm is proposed for a class of uncertain nonlinear systems performing repetitive tasks. Uniform bound of the tracking error is established as a function of uncertainty, disturbance, and initialization error. In the absence of uncertainty, disturbance, and initialization error, the tracking error approaches to zero as the number of learning iterations increases.