This paper considers the ilc from an adaptive control viewpoint . two kinds of new algorithm are proposed for ilc of essential nonlinear systems , which avoid some drawbacks and restricted assumptions of traditional ilc , based on lyapunov stability theory and backstepping technique of nonlinear system 本文利用自适应理论设计迭代学习控制，基于lyapunov稳定性理论，结合本质非线性系统的backstepping设计方法，提出了两类本质非线性系统的迭代学习控制新算法，这些算法克服了传统迭代学习控制的许多缺陷，放松了传统算法的一些限制性假设。
Firstly , for parametric strict feedback nonlinear systems with delay in the output and parametric output - feedback nonlinear time - delay systems , time - delay filters are introduced to estimate the states of the systems . two memoryless adaptive tracking control approaches are presented by using backstepping and domination techniques 第一，针对带有输出时滞的参数化严格反馈非线性系统和参数化输出反馈非线性时滞系统，采用时滞滤波器估计系统状态，利用backstepping技术和占优化方法，提出两种无记忆自适应跟踪控制器的设计方案。
Utilizing backstepping procedure , general expression of control strategy for hvdc converters is acquired . the control strategy can restrain the nonlinear uncertainty through injection of nonlinear damping terms in virtual controllers . the proposed decentralized adaptive control scheme guarantees that all the signals in the closed - loop system are bounded in the presence of high order interconnections and bounded disturbances 设计中引入自适应非线性阻尼项来抑制系统非线性不确定参数和未知有界干扰的影响，同时采用反演设计方法来克服控制器设计的复杂性，最后获得高压直流输电系统换流站的分散鲁棒自适应控制策略的一般表达式，并提供了整个系统的稳定性证明。
Firstly , based on backstepping and the supervisory control strategy , a robust adaptive fuzzy controller is designed for a class of nonlinear systems . the first type fuzzy logic system is used to approximate the unknown part of the process . the adaptive compensation term of the optimal approximation error is adopted 本文首先针对一类不确定非线性系统，基于backstepping方法，利用监督控制，引入最优逼近误差的自适应补偿项，并利用型模糊逻辑系统逼近系统的未知部分，提出了一种鲁棒自适应模糊控制器设计方案，运用李亚普诺夫第二方法，先证明了闭环模糊控制系统全状态有界，再证明了跟踪误差收敛到零。
By the research in this paper , the problems of stability and tracking for nonlinear systems have been properly solved by using backstepping and lyapunov synthesis method and supervisory control and error compensation ; the adaptive fuzzy control problems of nonlinear continuous systems have also been properly solved . the schemes presented can guarantee the global stability of the closed - loop control systems with tracking error converging to zero , while the modeling error exists . they can improve the performance of the systems and their robustness 通过本文的研究，较好地将后推法、李亚普诺夫综合方法、监督控制及误差补偿相结合，解决了一类非线性系统的稳定性问题和跟踪问题；接着解决了siso 、 mimo非线性连续系统的模型参考自适应模糊控制问题，提出的模糊控制器设计方案在建模误差存在的情况下，能够保证闭环系统全局稳定，且系统跟踪误差收敛到零。
Based on this characterization , we improve the theoretic result which is the foundation of lyapunov backstepping design . the problem that how to construct a control lyapunov function from a weak lyapunov function is a significant one , because the successful reconstruction implies that robust analysis and design can be probed in depth . for affine nonlinear systems , we present a sufficient reconstruction condition and interpretate the constructing procedure by typical examples 刻画一类存在半正定弱李雅普诺夫函数的全局渐近稳定系统，并用所得结果改进了李雅普诺夫递推设计的一个重要理论依据；如何由弱李雅普诺夫函数重构控制李雅普诺夫函数，是一个十分重要的问题，因为成功的重构意味着可以进行深入的鲁棒分产摘要析与设计，针对仿射系统我们给出了可以重构的充分条件，并用典型例子说明了构造过程
On account of the uncertainty existing in the nonlinear ship responded model , we design a dynamic adaptive ship steering controller by using adaptive backstepping . after deducing the update law of the unknown constant , we choose the controller gains to guarantee the closed loop system and the control signal global boundedness 由于船舶非线性响应模型中含有未知常参数的不确定项，因此采用自适应backstepping的方法，选择参数自适应调节律，设计动态的船舶航向控制器，实现在线控制。
