2-D system theory based iterative learning control for linear continuous systems with time delays

This paper presents two-dimensional (2-D) system theory based iterative learning control (ILC) methods for linear continuous multivariable systems with time delays in state or with time delays in input. Necessary and sufficient conditions are given for convergence of the proposed ILC rules. In this paper, we demonstrate that the 2-D linear continuous-discrete Roesserʹs model can be applied to describe the ILC process of linear continuous time-delay systems. Three numerical examples are used to illustrate the effectiveness of the proposed ILC methods.