Robust D-type iterative learning control based on 2D model

A robust D-type iterative learning control method for a class of linear uncertain systems is proposed based on continuous-discrete two dimensional (2D) mixed model. First, by analyzing of the control and dynamic learning processes independently, a hybrid continuous-discrete 2D model for the iterative learning control system is established and the design problem of D-type iterative learning control is converted to a state feedback design problem for the continuous-discrete 2D systems. Next, using the 2D systems theory, a stability condition for the iterative learning control systems is obtained. Furthermore, based on the stability condition, the parameters of the D-type iterative learning controller are resolved by Matlab´s Toolbox via linear matrix inequalities (LMI). Unlike previous methods, the information of tracking errors´ derivative and the variance of the state are used in the control input. Finally, the validity of the method is verified by a numerical example.