为分析迭代学习控制系统的学习收敛性和收敛速度,将迭代学习控制系统抽象成一个在运行时间t和重复运行次数k上的二维系统,并在频域内对系统进行了分析,提出基于幅相曲线的学习收敛性分析方法,给出了收敛性判定定理,并将该方法应用于系统输出偏差各频率成分在重复运行次数方向上的收敛速度分析和迭代学习控制器设计.应用Matlab/Simulink进行了仿真验证,结果表明:所提出的迭代学习控制频域分析方法和收敛性判定定理是正确的,能够准确有效地用于迭代学习控制的收敛性及收敛速度分析. In order to analyze the learning convergence and convergence speed of iterative learning control system, the iterative learning control system is abstracted into a two-dimensional system with running time t and repeated running times k, and the system is analyzed in the frequency domain. Convergence analysis method of phase curve, the convergence judgment theorem is given, and the method is applied to the convergence rate analysis and iterative learning controller design of the frequency components of the system output deviation in the direction of the number of repetitions.Application of Matlab / Simulink The simulation results show that the proposed iterative learning control method in frequency domain and the convergence theorem are correct and can be used to analyze the convergence and convergence speed of iterative learning control accurately and effectively.