Modified P-Type ILC for High-Speed Trains with Varying Trial Lengths

High-speed trains always operate from the same departure station to the same terminal station and hence iterative learning control (ILC) is an appropriate approach for automatic train control. However, due to complex environment and unknown uncertainties, the train may not arrive at the terminal station on time, or earlier and later than the schedule time in each operation. To address this problem, a modified proportional-type (P-type) ILC is presented where the trial length in each operation can be randomly varying. Moreover, the convergence condition in 2-norm is also derived through rigorous analysis. The effectiveness of the modified P-type ILC is further verified through simulations.