Based on the repeatability and nonlinearity of the actual system, the time-varying pilot factor–iterative learning control algorithm is proposed previously. To make this algorithm more intelligent and get a better control effect, an improved control algorithm is proposed. The improved control method mainly addresses the error divergence problem of the system under the influence of the phase delay. The convergence of the system under the control of this new control algorithm has been mathematically proved by using the repeatability and periodicity of the system, and the sufficient condition is given. The improved control algorithm converges even if the initial state of each iteration of the system is inconsistent. In the last section of this article, the improved algorithm is experimentally verified in an actual hydraulic servo system. The experimentally verified data shows that this new improved algorithm with control parameter learning has a faster convergence rate and better control effect than the previous time-varying pilot factor–iterative learning control algorithm.

基于实际系统的可重复性和非线性性，提出了时变导频因子迭代学习控制算法。为了使该算法更加智能化并获得更好的控制效果，提出了一种改进的控制算法。改进的控制方法主要解决相位延迟影响下系统的误差发散问题。利用系统的可重复性和周期性，通过数学方法证明了在这种新控制算法的控制下系统的收敛性，并给出了充分的条件。即使系统每次迭代的初始状态不一致，改进的控制算法也会收敛。在本文的最后一部分中，改进的算法在实际的液压伺服系统中进行了实验验证。