The document proposes a Newton-method based iterative learning control (ILC) method for nonlinear systems. It decomposes the nonlinear ILC problem into a sequence of linear time-varying ILC problems that can be solved using existing linear ILC algorithms. This approach converges semi-locally and avoids calculating inverse systems. The algorithm is demonstrated in a simulation of a single link manipulator model that successfully tracks the reference signal across trials. Future work aims to improve global convergence, stability, and monotonic convergence properties.

1. NEWTON-METHOD BASED ITERATIVE LEARNING CONTROL METHOD FOR NONLINEAR SYSTEMS T. Lin, D. H. Owens, J. Hätönen Department of Automatic Control and Systems Engineering University of Sheffield, UK