Kh. Park et al., Design of an iterative learning controller for a class of linear dynamic systems with time delay, IEE P-CONTR, 145(6), 1998, pp. 507-512
In the paper, it is first observed that when a typical iterative learning c
ontrol (ILC) algorithm is applied to a class of linear dynamic systems with
time delay, erratic estimation of delay time may cause the control input t
o diverge. To resolve such a difficulty due to uncertainty of the delay tim
e, a new ILC algorithm is proposed in which a holding mechanism is adopted
to hold the control input at a constant value for the duration of the delay
time uncertainty. As a consequence, the output of the system tracks a give
n desired trajectory at the discrete points which are spaced by the size of
the uncertainty of delay time. A numerical example is given to show the ef
fectiveness of the proposed algorithm.