Research on Control Law of Iterative Learning Model Predictive Control Method Based on State-Space Model

In this paper, an iterative learning model predictive control algorithm based on state -space model is studied for multiple input multiple output systems with pure delay, and the effect of the iterative control law is analysed. The main contributions of this paper are as follows: first, it solves the inverse problem of unsatisfactory rank caused by pure delay in conventional predictive control, and discusses the solving conditions of iterative learning model predictive control algorithm under the state-space model. Second, it adds the error forward difference term to the iterative control law of iterative learning model predictive control algorithm, which improves the ability of suppressing noise interference. Simulation results show that the proposed method is effective, and it is shown that the suppression effect of noise interference can reach more than 40% in the case of pure delay in the system.