Passivity based stabilization of nonlinear 2D systems with application to iterative learning control

The paper considers nonlinear discrete-time repetitive processes using the state-space model setting. A form of passivity, termed G-passivity, is introduced and used, together with a vector storage function, to develop a new design for output feedback based control to guarantee exponential stability of the controlled system. An extension to repetitive processes with possible failures, modeled by finite state Markov chain, is also given. Finally, these new results are applied to iterative learning control design in the presence of sensor failures.