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.