Abstract The basic idea of iterative learning control (ILC) is to make use of the repetitiveness within the system to achieve a better performance. Highorder ILC convergence sufficient condition is provided for a non linear time varying dynamic system with uncertainties and disturbances. Convergence speed of the typical PD highorder ILC scheme is also discussed in comparison with Dtype ILC algorithm. Simulation examples are provided to illustrate that highorder ILC scheme can be better than Dtype ILC in terms of convergence speed and the convergence is guaranteed if the proposed conditions are satisfied and items of uncertainties and disturbances are bounded.
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2006, Vol. 19 
