Delay-dependent conditions for monotonic convergence of uncertain ILC systems: An LMI approach

Abstract

This paper deals with the iterative learning control (ILC) problem for uncertain time-delay systems (TDS). In order to ensure monotonic convergence of the ILC process, a sufficient condition is developed using an H ∞ -based framework. It shows that under this framework, the convergence condition is enabled to be delay-dependent and have a formulation in terms of linear matrix inequalities (LMIs). Moreover, formulas for the updating law design can be derived by directly solving LMIs. A numerical example is provided to verify that the delay-dependent condition in LMI forms is effective in producing monotonically convergent ILC algorithms.