针对迭代学习算法在非线性系统故障检测与估计过程中存在估计误差较大和收敛速度较慢等不足的问题,提出了一种基于龙格–库塔故障估计观测器模型的自适应迭代学习算法, 有效降低了故障估计误差。（Aiming at the problem that the iterative learning algorithm has a large estimation error and slow convergence speed in the process of nonlinear system fault detection and estimation. ）