An iterative learning control scheme based on 2-dimensional robust predictive control

Taking the 2-dimensionality of the iterative learning control (ILC) systems into account, a robust model predictive control scheme is presented for the 2-dimensional system with parameter uncertainties based on a two-stage optimization algorithm, where the cycle-wise optimization ensure the robust convergence along cycle index, while the online optimization over the time-wise receding predictive horizon guarantees the robustness within the cycle. The ILC system obtained within the proposed design framework has a good robustness along both time and cycle indices. The numerical illustration demonstrates the effectiveness of the proposed design scheme for the ILC systems.