Loop shaping for iterative control of batch processes

The article formulates an iterative learning control (ILC) design problem and modal analysis approach in the frequency domain that uses the Fourier transform. Following that, the controller design specifications are formulated in a frequency domain form. Next, the LQ/LTR controller design procedure is presented where the quadratic penalty weights are used to recover the design specifications. Finally, a simulated example of ILC in a highly nonlinear batch thermal process illustrates an application of the developed approach.