Application and Design of a Robust Iterative Learning Controller for Uncertain Time-delay Systems

A novel method-robust iterative learning control (RILC) is proposed for time-varying systems with uncertain time-delay in this paper. The robust iterative learning controller is obtained by resolving Riccati equation. In addition, the sufficient and necessary conditions of convergence are derived by 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. Cite a two-link planar robot as an example. The simulation result shows the effectiveness and feasibility of the proposed method