Adaptive iterative learning control for uncertain delay systems based on model matching technique

In this paper, an adaptive iterative learning con trol(ILC) scheme is proposed for trajectory tracking of un certain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.