A new approach to robust stability analysis of uncertain time-delay systems

A design method of robust iterative learning controller is proposed for time-varying systems with uncertain time-delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived by Lyapunov theory. The proposed controller has lower order and can be more easily realized than robust controller. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Cite a two-link planar robot as an example. The simulation result shows the effectiveness and feasibility of the proposed method