Robust Iterative Learning Control Design Based on Two Degree of Freedom Control

In this paper, the iterative learning control (ILC) architecture combining feedforward term and feedback term is transformed into two degree of freedom control framework, so that the ILC design problem can be solved according to classical synthesis of two degree of freedom controller. The original problem for uncertain linear plants is first converted to an H
_∞
design problem, and the robust ILC is derived by structured singular value and μ synthesis secondly. Simulation results of a DC servo motor are presented in the last to show the effectiveness of the scheme.