Iteration dependent interval based open‐closed‐loop iterative learning control for time varying systems with vector relative degree

For linear time varying (LTV) multiple input output (MIMO) systems with vector relative degree, an open-closed-loop iterative learning control (ILC) strategy is developed in this article, where the interval of operation iteration dependent. To compensate missing tracking signal caused by dependent interval, feedback introduced ILC design. As many continuous iterations lost a certain part can employ current for compensation. Under assumption that initial state vibrates around desired uniformly mathematical expectation sense, error converge to zero as number tends infinity. circumstance varies bound, infinity, be driven bounded range, whose upper bound proportional fluctuation. It revealed convergence condition on feedforward gains, while accelerate speed selecting appropriate gains. special case, controlled system integrated high degree also addressed proposing simplified based method. Finally, effectiveness illustrated simulation example two cases state.