Iterative learning control with unknown time-delay

The paper presents a new algorithm for iterative learning control (ILC) called “natural” ILC. ILC is developed on the basis of a biological analog - the principle of self-adaptability. Sufficient conditions for the convergence of a new type of learning control algorithm for a class of time-varying delayed uncertain, non-linear systems - a process plant with unknown pure time-delay are presented. A new algorithm has benefits which include control of an object with unknown time-delay improving the properties of tracking, as well as the speed of convergence of ILC