Robust Iterative Learning Controller Design for 2d Uncertain Linear Systems Subject to External Disturbances

This paper presents a robust iterative learning control (ILC) for a class of two dimensional (2D) linear systems with parametric uncertainty and considerable disturbances. The proposed control law is iteratively updated to guarantees the robust stability. Based on H∞ setting, sufficient conditions for robust monotonic convergence of the proposed scheme are presented in terms of linear matrix inequality (LMI). A servo flexible example is presented in the end of this paper to demonstrate the effectiveness of the proposed learning algorithm. Keywordsuncertain systems iterative learning control, robust control, linear matrix inequality, 2D systems, H∞ setting and robust stability.