Iterative Learning Control for Multiple Time-Delays Discrete Systems in Finite Frequency Domain

This paper developes iterative learning control scheme and the stability conditions for multiple time-delays discrete system. By formulating the problem over repetitive process form using 2D theory, sufficient stability conditions for multiple time-delays discrete system are developed along the trial, which guarantees the trial-to-trial error monotonic convergence. Moreover, the generalized Kalman-Yakubovich-Popov (KYP) lemma allows the iterative learning control scheme to develope stability conditions with LMI constraints and analyze in the finite frequency domain. A numerical simulation for multiple time-delays discrete system is given to verify the proposed method.