A parametric learning based robust iterative learning control (ILC) scheme is applied to the time varying delay multiple-input and\nmultiple-output (MIMO) linear systems. The convergence conditions are derived by using the H? and linear matrix inequality\n(LMI) approaches, and the convergence speed is analyzed as well. A practical identification strategy is applied to optimize the\nlearning laws and to improve the robustness and performance of the control system.Numerical simulations are illustrated to validate\nthe above concepts.
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