But the learning period of opened-loop iterative learning control is long, and the unstable and highgain phenomena may be taken place during the initial stage of iterative learning control.
开环迭代学习控制学习周期长，在迭代学习的初期容易出现不稳定和高增益的现象。
2
By introducing integral variable structure and highgain observer, the closed-loop control systems is shown to be globally stable in terms of Lyapunov theory, with tracking error converging to zero.
The high frequency gain of the regulator is limited to suppress the high frequency oscillation of the control signal while assigning the closed-loop poles.