Noncausal finite time interval iterative learning control law design

Iterative learning control has been developed for processes or systems that complete the same finite duration task over and over again. The exact mode of operation is that after each execution is complete the system resets to the starting location and the next execution can begin, either immediately or after a finite time has elapsed. Each execution is known as a trial over the finite duration trial length. Once each trial is complete the information generated is available for use in computing the control input for the next trial. This paper gives further results on the use of 2D systems theory as a starting point to address the question of how to maximize the benefits of using previous trial information in the control law.