Monotonic convergent iterative learning controller design with iteration varying model uncertainty

In iterative learning control, model uncertainty issue has been studied in various ways. But, in existing works, the model uncertainty has been considered as iteration invariant, that is, it does not change on the iteration axis. Furthermore, in these works, monotone convergence problem has not been properly studied. In this paper, new monotonic convergence condition of iteration varying model uncertain iterative learning control system is derived. So, the main goal of this paper is to guarantee the monotone convergence of the iteration varying model uncertainty system until the tracking error is reduced below the previously calculated base-line error boundary. Through the numerical example, the validity of the suggested method is illustrated.