Generalization of norm optimal ILC for nonlinear systems with constraints
Norm optimal ILC for LTI systems is extended to constrained nonlinear systems. The nominal model is explicitly corrected based on past trial data as a first step. The structure of the model correction can be defined arbitrarily. The optimal next trial input signal is calculated in a second step. Both steps are solved efficiently using a sparse interior point method.
optimization nonlinear systems iterative learning control nonlinear programming