Adaptive iterative learning control of nonlinear systems with hysteresis

An adaptive iterative learning controller (ILC) is proposed for a class of nonlinear systems with hysteresis described by Bouc-Wen model. First, the property of Bouc-Wen mode is discussed and the upper bound is derived .Then an iterative learning controller is proposed through the Lyapunov-like function. This controller can eliminate the oscillation and overshoot caused by hysteresis effectively. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller.