A class of nonlinear ILC algorithms based on vector plots analysis

Based on the vector plots analysis, considering the space angles between the amendment of the actual input of the previous control and the amendment of general P-type algorithm control, iterative learning control law changes dynamically to deal with different control problems. The algorithm adjusts along the direction with faster convergence, improving the speed and the tracking performance of control. Simulations illustrate the effectiveness and superiority of the new algorithms.