Monotonically convergent iterative learning control for uncertain time-delay systems: An LMI approach

This paper deals with the robust iterative learning control (ILC) problem for time-delay systems (TDS) subject to matched parameter uncertainties. Based on two-dimensional (2-D) approach, a stability analysis of the ILC process is developed in the sense that the control error converges monotonically as a function of iteration. It shows that a sufficient condition for the ILC stability can be given in terms of linear matrix inequalities (LMIs), which derive learning gains directly. Simulation results show that the ILC system under a law using gains solved by the LMI approach is robustly stable and monotonically convergent.