针对具有输出干扰的线性时不变单输入单输出系统,首次运用基于逆模型的迭代学习控制理论分析其轨迹跟踪控制问题.通过严格的数学分析,提出了无干扰输出误差的数学期望计算公式(欧几里得范数)并证明了其收敛性.进而给出了其频域分析公式,证明了系统参数、噪声光谱和基于逆模型的迭代学习控制参数对收敛性的影响.系统仿真实验结果验证了以上的理论发现. For linear invariant single-input and single-output linear systems with output disturbances, the iterative learning control theory based on inverse model is firstly used to analyze the trajectory tracking control problem. The mathematic expectation formula of non-interference output error is proposed through rigorous mathematical analysis Euclidean norm) and its convergence is proved. Then its frequency domain analysis formula is given and the influence of system parameter, noise spectrum and iterative learning control parameter based on inverse model on convergence is proved. The results of system simulation Verify the above theoretical findings.