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In the traditional iterative learning control (ILC) method, the operational time interval is conventionally fixed to facilitate a seamless learning process along the iteration axis. However, this condition may frequently be contravened in real-time applications owing to unknown uncertainties and unpredictable factors. In essence, replicating a control system at a consistent time interval proves challenging in practical scenarios. This paper proposes an adaptive iterative learning control (AILC) method for the multi-input–multi-output (MIMO) nonlinear system with nonuniform trial lengths and an invertible control gain matrix. Compared to the existing AILC research that features nonuniform trial lengths, the control gain matrix of the system in this paper is assumed to be invertible. Hence, the general requirement in the conventional AILC method that the control gain matrix of the system is positive-definite (or negative-definite) or even known is relaxed. Moreover, the tracking reference allows it to be iteration-varying. Finally, to prove the convergence of the system, the composite energy function is introduced and to verify the validity of the AILC method, a robot movement imitation with an uncalibrated camera system is used. The simulation results show that the actual output can track the desired reference trajectory well, and the tracking error converges to zero after 30 iterations. [ABSTRACT FROM AUTHOR]

The energy-consuming right trading policy (ECRTP) represents a significant initiative to promote the sustainable development of Chinese enterprises. This study employs the difference-in-differences methodology to analyze how ECRTP influences ESG performance based on data from A-share listed industrial enterprises in China from 2006 to 2020. The findings indicate that ECRTP effectively enhances corporate ESG performance, and this conclusion holds valid following a battery of robustness checks. Moreover, ECRTP improves corporate ESG performance by promoting green technological innovation and green perceptions among executives. Tests for heterogeneity show that the ECRTP exerts a more pronounced influence on ESG performance for enterprises located in regions with high public environmental awareness, heavily polluting industries, and coastal areas. This study broadens the literature on ECRTP effectiveness evaluation, providing valuable insights for refining the design of these policies, promoting their implementation, and facilitating the achievement of dual control targets for energy consumption. [ABSTRACT FROM AUTHOR]

The in-depth promotion of environmental pollution prevention and control is a must for China to move towards green development, and the effectiveness of urban environmental pollution control largely depends on the selection of these environmental policies and the synergistic application of these policies. This paper empirically tests three environmental policies' mixed and synergistic effects using Chinese urban data from 2000 to 2017. This study found that (1) the three environmental policies significantly curb urban environmental pollution and show synergistic effects. (2) The three types of environmental policies can have a superimposing effect by strengthening financial inputs and increasing environmental concern, as well as a complementary effect by improving the efficiency of environmental protection enforcement and the institutional environment. The synergy between the central environmental protection inspection policy and the environmental information disclosure policy is more of a superposition effect than a complementary effect due to the similarity of the policy objectives. (3) The synergistic effect of environmental policies is affected by factors such as the age of the principal officials and financial pressure. The younger the age of the principal officials and the cities with less financial pressure are more capable of utilizing the synergistic effect of environmental policies to form a situation where the market, the government, the public, and the enterprises work together to govern the city. This paper provides new ideas for exploring the synergies and mechanisms of environmental policies and theoretical references for the design, implementation, and effects of environmental policy portfolios in the 14th Five-Year Plan period. [ABSTRACT FROM AUTHOR]