Emelianova

This paper considers the nonlinear discrete-time repetitive processes with possible failures. For such systems a new notion of pass profile exponential stability is defined, that generalizes a well known notion of stability along the pass, used for linear processes. Based on vector Lyapunov function approach sufficient conditions of this type of stability are obtained. This stability conditions are applied to iterative learning control design of linear systems with possible transmission failures. The effectiveness of proposed algorithm is demonstrated on simplified model of vertical channel dynamics of gantry robot.