Fractional order iterative learning control with randomly varying trial lengths

In this paper, we establish a uniform framework to deal with varying tracking problem in the finite time interval for fractional order system. In order to tracking the reference trajectory associated with nonlinear fractional differential systems with randomly varying trial lengths, we design a new type iterative learning control of the output equation with nonlinear input involving an integral term. As a result, convergence analysis results for several classes of learning laws with local average operator are given. Finally, some examples are given to illustrate our results.