Algorithm and robustness of iterative learning control for a class of singular systems

For a class of singular linear systems with state and output disturbance, the condition of robust convergence for iterative learning control is discussed under the action of closed-loop PD-type iterative learning control algorithm. The boundedness of the tracking error of the systems is proved under boundedness of state and output disturbance. And output of the systems can track the desired trajectory asymptotically if all the disturbances are disappeared.