含状态时滞的非线性间歇过程迭代学习控制研究

在迭代学习控制(iterative learning control, ILC)理论的研究中，常见的初始条件是迭代初值与期望初值一致，或者迭代初值固定。研究了含状态时滞的非线性间歇过程，其系统初值在期望初值一定范围内随机变化且存在可量测重复性扰动下的迭代学习控制问题。提出了采用带变遗忘因子的开环PD型迭代学习控制算法，给出了谱半径形式的收敛条件，并应用算子理论进行收敛性证明，给出了间歇非线性控制时滞过程仿真实例。研究结果说明了该算法的有效性。

Iterative learning control for a class of nonlinear batch processes with state delay

In iterative learning control theory,in order to overcome the limitation of the fixation of the initial value or the consistency of the initial value and the desired initial value,iterative learning control for a class of nonlinear batch processes with state delay is studied.The initial expectation of the system is random variable in the expected initial value within a certain range,and there exist measurable repetitive disturbances.The open-loop PD-type learning algorithm with a forgetting factor is presen...