Repetitive process based iterative learning control for a two motors system

This paper uses a 2D systems setting, based on the control theory for repetitive processes, to design an iterative learning control law with particular emphasis on the commonly encountered problem of maintaining a specified rotational speed of shaft where disturbances introduce irregularities in the speed achieved. The two motors system is a model for this problem and is used as the basis for a simulation study of the performance of the final design.