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通过线性化处理，本文将开闭环配合的高阶P型迭代学习控制律的适用范围推广到更一般的非线性动态系统．对于UBB初始条件和周期干扰，以及渐进重复初始条件和干扰的情形，文中分别证明了学习过程的渐进有界和一致收敛性．仿真结果表明了这类控制器的鲁棒性能．
Through the linearization process, this paper generalizes the application range of the closed-loop matched high-order P-type iterative learning control law to the more general nonlinear dynamic system. For UBB initial conditions and periodic disturbances, as well as asymptotic repetition of initial conditions and disturbances, the asymptotic bounded and uniformly convergent learning processes are respectively proved. The simulation results show the robustness of this kind of controller.