Modified Lambda-Norm Techniques for Nonlinear Discrete-Time Systems
This chapter proposes ILC for discrete-time affine nonlinear systems with randomly iteration-varying lengths. No prior information on the probability distribution of random iteration length is required prior to controller design. The conventional P-type update law is used with a modified tracking error because of randomly iteration-varying lengths. A novel technical lemma is proposed for the strict convergence analysis in pointwise sense.