A Class of PType Iterative Learning Control Schemes for DiscreteTime Systems with Multiple Time Delays

The problem of iterative learning control is considered for linear discrete-time systems with multiple time delays. In this paper, it is assumed that the initial condition for discrete time-delay systems is unknown at each iteration. For such a class of discrete time-delay systems, a method is presented whereby a class of P-type discrete iterative learning control schemes can be constructed. It is shown that under some given conditions, the constructed iterative learning controllers can guarantee the asymptotic convergence of the output error between the given desired output and the actual output through the iterative learning process. Finally, a numerical example is given to demonstrate the validity of the results.