Boundary Iterative Learning Control for a Class of First-order Hyperbolic System with Non-local Terms

Abstract In this paper, the output tracking problem for a class of first-order hyperbolic equations with non-local terms over repeatable finite time interval is addressed. On the boundary of the system, a kind of iterative learning control scheme composed of a feedback and a feedforward mechanisms is proposed. Through constructing the input-output equivalent form of the original system, the robust convergence of the boundary iterative learning control strategy with respect to the initial states errors, iteration dependent, independent and state dependent disturbances is guaranteed via rigorous analysis. It is shown that the upper bound of the convergence error is continuously depend on the bounds of the initial states errors, iteration dependent or independent disturbances and the Lipschitz coefficient of the state dependent nonlinear disturbance. Finally, several numerical examples and a practical plate heat exchanger process applying the proposed boundary ILC scheme are performed to validate the performance of the algorithms.