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Journal of Control Science and Engineering
Volume 2014, Article ID 471921, 11 pages
Research Article

A Parametric Learning and Identification Based Robust Iterative Learning Control for Time Varying Delay Systems

Service Robots Laboratory of Shandong University, School of Control Science and Engineering, Shandong University, Shandong 250061, China

Received 9 July 2014; Accepted 4 September 2014; Published 23 September 2014

Academic Editor: Wuneng Zhou

Copyright © 2014 Lun Zhai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A parametric learning based robust iterative learning control (ILC) scheme is applied to the time varying delay multiple-input and multiple-output (MIMO) linear systems. The convergence conditions are derived by using the and linear matrix inequality (LMI) approaches, and the convergence speed is analyzed as well. A practical identification strategy is applied to optimize the learning laws and to improve the robustness and performance of the control system. Numerical simulations are illustrated to validate the above concepts.