Iterative Learning Control for Nonlinear Switched Systems With Constant Time Delay and Noise

The note focuses on the issue of iterative learning control for a kind of non-affine nonlinear switched systems with state time delay and external noise. According to the structural properties of the systems, a proportional-type scheme is considered. Then, the effect of both constant time delay and external noise on the tracking performance is explored by employing contraction mapping principle and Bellman-Gronwall inequality. Results reveal that time delay has insignificant influence on learning performance if it is less than dwell time, and the output follows into a permissible neighbourhood of the desired trajectory on the whole operation time interval if noise fluctuates within finite boundary. The system switching will reduce the convergence speed of the ILC algorithm, but will not change the convergence in iterative domain. Finally, simulation is given to illustrate the feasibility of the theoretical analysis.