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In this paper, we introduce a new iterative learning control (ILC) method, which enables learning from different tracking control tasks. The proposed method overcomes the imitation of traditional ILC in that, the target trajectories of any two consecutive iterations can be completely different. For non-linear systems with time-varying and time-invariant parametric uncertainties, the new learning method works effectively to nullify the tracking error. To facilitate the learning control system design and analysis, in the paper we use a composite energy function (CEF) index, which consists of a positive scalar function and L2 norm of the function approximation error.

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