Abstract
In this chapter, it is first observed that, when a typical iterative learning control(ILC) algorithm is applied to a class of linear dynamic systems with time-delay, erratic estimation of delay time may cause the control input to diverge. In order to resolve such a difficulty due to uncertainty of the delay time, a new ILC algorithm is proposed, in which the holding mechanism is adopted to hold the control input at a constant value for the duration of the delay time uncertainty. As a consequence, the output of the system tracks a given desired trajectory at discrete time-points which are spaced by the size of the uncertainty of delay time. In addition to the consideration of the delay time, the effect of the initial state error is also studied with a modification of the proposed ILC algorithm. Numerical examples are given to show the effectiveness of the proposed algorithms.
Published Version
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