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
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.
在配置闭环极点的同时，对调节器的高频增益加以限制，以减弱控制信号的高频振荡。
3
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.