Robust iterative learning control for uncertain systems with both state and input delay

A design method of robust iterative learning controller is proposed for uncertain systems with both state and input delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived from 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. The simulation result shows the effectiveness and feasibility of the proposed method.