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A parametric learning based robust iterative learning control (ILC) scheme is applied to the time varying delay multiple-input and multiple-output (MIMO) linear systems. The convergence conditions are derived by using the H∞ and linear matrix inequality (LMI) approaches, and the convergence speed is analyzed as well. A practical identification strategy is applied to optimize the learning laws and to improve the robustness and performance of the control system. Numerical simulations are illustrated to validate the above concepts.