Design of Robust Iterative-Learning-Control Systems Based on Two-Dimensional Model

A robust P-type iterative-learning-control (ILC) system is proposed for the linear systems with time-varying periodic uncertainties based on linear matrix inequality (LMI). A continuous-discrete two-dimensional (2D) model is built that can describe the process of the ILC system accurately. A sufficient condition of robust stability is presented in the form of an LMI and used to design the parameters of the controller. Finally, a numerical example verifies the correctness of the proposed method.