Stability of a multi-input, multi-output adaptive iterative learning control system

This paper provides convergence/stability criteria for universal adaptive high-gain iterative learning control systems based on the use of the current trial feedback for a class of linear, multi-input multi-output (MIMO) state space systems. Weak and strong (norm) convergence of the tracking error sequence {e_k}_k≥0 to zero in L^m₂(0, T) is analysed. This perfect tracking is also achieved with the proposed gain-update laws, with convergence of the adaptive control K_k to a limit gain K_∞ guaranteed.