Two-Dimensional Iterative Learning Model Predictive Control for Batch Processes: A New State Space Model Compensation Approach

To achieve improved control performance of batch processes under uncertainty, a novel two-dimensional model predictive iterative learning control (2D-MPILC) scheme is proposed. First, a new two-dimensional (2-D) extended nonminimal state space model is formulated where more degrees of freedom are offered for further controller design; second, a new error compensation strategy is introduced in the controller design to improve the ensemble control performance. The two merits are combined together to form a new control strategy where the model predictive control and iterative learning control are united based on the 2-D framework. By employing the novel model formulation and the system error compensation approaches, the effects caused by uncertainty in the batch processes can be eliminated gradually from cycle-to-cycle such that the desired control performance will be obtained finally. The effectiveness of the proposed 2D-MPILC is tested on the packing pressure in the injection molding batch process.