Iterative learning control for linear discrete delay systems via discrete matrix delayed exponential function approach

ABSTRACT

This paper proposes iterative learning control (ILC) for linear discrete delay systems with randomly varying trial lengths without knowing prior information on the probability distribution of random iteration length. Based on matrix delayed exponential function approach, an explicit solution to the linear discrete delay controlled systems is used to generate a sequence of outputs that approximate the desired reference by adopting two ILC update laws in the presence of randomly iteration-varying lengths. A new and direct mathematical technique is explored to deal with ILC for linear discrete delay systems. Two illustrative examples are provided to verify the theoretical results.