initial deviation

For a class of nonlinear time-varying repetitive systems with time delay 、 initial deviation 、 output error and condition disturbances, in arbitrary initial condition, the PD type closed-loop iterative learning tracking control problem which satisfies the global Lipschitz conditions is investigated.

针对一类存在初始偏差、输出误差和状态扰动的时滞非线性时变重复系统，在任意初值条件下，研究了系统满足全局Lipschitz条件下的PD型闭环迭代学习跟踪控制问题。

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