Iterative Learning Control for Time-Delay Systems with Initial-Rectifying Action

This paper addresses the problem of iterative learning control for time-delay systems with well-defined relative degree. Initial rectifying action is introduced in a conventional learning algorithm, and convergence conditions of the rectified learning algorithm are derived, in the presence of initial shifts, ensuring that the system output converges uniformly to a pre-specified trajectory. In particular, the system output converges to the desired trajectory jointed smoothly with a piece of transient trajectory.