Aiming at repetitive nonlinear time-varying system with uncertainty and disturbance , a new FH ( feed-back-assisted high-order)iterative learning controller was designed .Basing on traditional high-order iterative learn-ing control, the proposed controller employs PD control as feedback part and then uses the feedback part to suppress disturbance influence on the system , and havingλ-norm introduced to discuss algorithm convergence .Analysis re-sults show that the tracking error of controlled system has bounded convergence while the initial error and disturb-ance are bounded .The simulation results prove the proposed learning controller ’ s effectiveness .%针对具有不确定性或干扰的重复非线性时变系统，设计一种新的FH（ Feedback-assisted High-order）迭代学习控制器。在传统高阶迭代学习控制的基础上，该控制器引入PD控制作为反馈部分，利用反馈控制来抑制扰动对系统的影响，并采用λ-范数方法讨论其算法的收敛性。分析表明：在初态误差和干扰均有界的情况下，系统跟踪误差有界收敛。仿真结果表明了该控制器的有效性。
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