Decentralized iterative learning control schemes for large scale systems with unknown interconnections

The problem of decentralized iterative learning control for a class of large scale interconnected systems is considered. Here, the considered large scale systems are assumed to be linear time-invariant, and the interconnections between each subsystem to be unknown. For such large scale interconnected systems, a class of decentralized local iterative learning control schemes is proposed, which can guarantee the asymptotic convergence of the local output error between the given desired local output and the local output of each subsystem through the iterative learning process. Finally, as a numerical example, the system composed of two coupled inverted pendulums is given to demonstrate the validity of the results.