Two dimensional iterative learning control for second Fornasini-Marchesini model

In this paper, a new method for iterative learning control (ILC) of two-dimensional (2-D) systems is introduced so that the output of the process follows a desired trajectory. In this method the input of process in each iteration is determined by an innovative method called two-dimensional method by means of the obtained error between the output of the process and the desired trajectory which was given in previous iteration and the ability of this new method is illustrated by computerized simulation. Besides, the convergence of this method will be examined. All of the results can be generalized and used for systems with more dimensions.