Iterative learning control of a discrete-time system under delay along the sample trajectory and input saturation

This paper considers a linear discrete-time system operating in a repetitive mode to track a reference trajectory with a required accuracy. The control variable has a delay along the sample trajectory, and saturation-type constraints are imposed. We introduce a new method for designing an iterative learning control law that depends on the delay and ensures the required accuracy of tracking. A numerical example demonstrates the effectiveness of this method.