Error-Tracking Iterative Learning Control for Nonlinearly Parametric Time-Delay Systems With Initial State Errors

In this paper, an error-tracking iterative learning control scheme is proposed for a class of nonlinearly parametric time-delay systems with initial state errors. The iterative learning controller is developed by Lyapunov approach. With a desired error trajectory constructed according to the given method, the robust control and learning control are synthetically applied to compensate for nonlinearly parametric time-delay uncertainties. While the closed-loop system operates, as iteration number increases, the controller can make system error perfectly follow its desired error trajectory over the entire time interval, by which, the system state can precisely track its reference signal in the pre-specified part of above-mentioned interval. Numerical results demonstrate the effectiveness of the proposed error-tracking learning control scheme.