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The close loop P type iterative learning control is proposed for systems with state delay in this paper. The design procedure is based upon obtaining the sufficient condition of convergence by Lyapunov theory, an iterative learning law is obtained by resolving linear matrix inequalities (LMI). The proposed method is more easily realized and strong practical. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Finally the simulation results show the effectiveness and feasibility of the proposed algorithm.