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A high order ILC scheme is synthetized; this controller contains the information (errors) of several iterations and not only of one iteration. It has been shown that the closed loop system (robot plus controller) is asymptotically stable, over the whole finite time interval, when the iteration number tends to infinity. This proof is based upon the use of a Lyapunov-like positive definite sequence, which is shown to be monotonically decreasing under the proposed controller scheme. Finally, simulation results on two-link manipulator are provided to illustrate the effectiveness of the proposed controller.<\/jats:p>","DOI":"10.1177\/0142331217741958","type":"journal-article","created":{"date-parts":[[2018,1,25]],"date-time":"2018-01-25T07:31:49Z","timestamp":1516865509000},"page":"4105-4114","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["High order iterative learning control to solve the trajectory tracking problem for robot manipulators using Lyapunov theory"],"prefix":"10.1177","volume":"40","author":[{"given":"Farah","family":"Bouakrif","sequence":"first","affiliation":[{"name":"Laboratoire d\u2019Automatique de Jijel, Universit\u00e9 de Jijel, Algeria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michel","family":"Zasadzinski","sequence":"additional","affiliation":[{"name":"Centre de Recherche en Automatique de Nancy (CRAN-UMR 7039), CNRS, Universit\u00e9 de 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