A particular iterative learning control scheme for linear time-varying continuous systems with input delays

This paper deals with iterative learning control (ILC) design for a class of multi-input multi-output (MIMO), linear time-varying (LTV) continuous systems with input delays. A particular ILC scheme is considered, and is shown to be convergent from the two-dimensional (2D) system point of view. Furthermore, if certain selections of learning gains are met, then this scheme converges in an ordered way, and achieves uniform convergence over the whole learning time interval only after finite iterations. The simulation results show that the proposed scheme can provide different effective updating laws to improve the performance of the control systems.