Iterative Learning Control Design for Nonlinear Time-Delay System

Time-delay is a widespread phenomenon of control system. Time-delay characteristics have a serious impact on system stability and performance. It is valuable to study iterative learning control of time-delay system. In this paper, we study the effects of multiple time delay on the convergence of nonlinear time-delay systems applying ¿-norm and a set of inequalities. It will be shown that time-delay will little affect the systems convergence under the PID-type learning rule. Numerical simulations are also presented to show the effectiveness of theoretical analysis.