An iterative learning control method for continuous-time systems based on 2-D system theory

This work presents a two-dimensional (2-D) system theory based iterative learning control (ILC) method for linear continuous-time multivariable systems. We demonstrate that a 2-D continuous-discrete model can be successfully applied to describe both the dynamics of the control system and the behavior of the learning process. We successfully exploited the 2-D continuous-discrete Roesser´s linear model by extending the ILC technique from discrete control systems to continuous control systems. Three learning rules for ILC are derived. Necessary and sufficient conditions are given for convergence of the proposed learning rules. Compared to the learning rule suggested by Arimoto et al. (1984), our developed learning rules are less restrictive and have wider applications. The third learning rule proposed ensures the reference output trajectory can be accurately tracked after only one learning trial. Three numerical examples are used to illustrate the proposed control procedures