Iterative Learning Control with PI-PD and Smith Compensator for Batch Processes

The iterative learning control (ILC) strategies with two controllers based on Smith compensator were proposed for batch process which had uncertainties in modeling and time delay. They fully used previous batch control information and were attached to the current control system to improve tracking performance through repetition. The dynamics of process were represented by transfer function plus pure time delay. The stability properties of the proposed strategies in the presence were analyzed in the frequency domain. The sufficient conditions guaranteeing convergence of tracking error were stated and proven. The effectiveness of the proposed methods are demonstrated by simulation results