Delay-Dependent Conditions for Monotonic Convergence of Uncertain ILC Systems: An LMI Approach

This paper deals with the iterative learning control (ILC) problem for uncertain time-delay systems (TDS). In order to ensure monotonic convergence of the ILC process, a sufficient condition is developed using an H-infinity-based framework. It shows that under this framework, the convergence condition is enabled to be delay-dependent and have a formulation in terms of linear matrix inequalities (LMIs). Moreover, formulas for the updating law design can be derived by directly solving LMIs. A numerical example is provided to verify that the delay-dependent condition in LMI forms is effective in producing monotonically convergent ILC algorithms.