A frequency analysis of time delayed iterative learning control system

In this paper, two different iterative learning control schemes are applied to the time delayed systems. The analysis of the convergence performance including the convergence condition and the convergence speed is discussed. The convergence conditions of the ILC scheme are derived in the frequency domain and the design and optimization of learning gains can profit from various subspace and coefficient identification methods, which guarantee the convergence of the control strategy monotonically, and can be adjusted to improve the convergence speed to a large extent. A number of simulation results are provided to validate the conclusions.