本文针对一般非线性系统，构造了迭代学习观测器，基于该迭代学习观测器的状态和可调参数设计了输出反馈控制律，通过选择可调参数自适应调节律的适当形式，保证了整个系统的渐近稳定性和输出反馈控制律的有界性。计算机模拟显示所提出方法的有效性。关键词：非线性系统；迭代学习观测器；输出反馈；自适应调节Abstract: An iterative learning observer is constructed for common nonlinear systems. The output feedback controller can be obtained based on the states of the iterative learning observer and tuning parameters. The asymptotic stability of the whole nonlinear system and boundedness of the output feedback controller can be guaranteed by selecting the adaptive tuning rule of tuning parameters properly. Computer simulation results illustrate the validity of the method.Key words: Nonlinear systems, iterative learning observer, output feedback control, adaptivetuning.