Robust Iterative Learning Control Design for a Class of Uncertain Batch Processes

This paper investigates the problem of designing robust iterative learning control laws for discrete-time batch processes with norm-bounded parameter uncertainties. A law of proportional-differential type is designed to achieve robust convergence of the tracking error in the batch-to-batch direction. It is shown that the design problem can be written as a two-dimensional system. Then, the recently developed non-conservative conditions for (structural) stability analysis for a linear Roesser model are used. The conditions for the existence and computation of the required control law matrices are linear matrix inequality-based. Finally, comparative simulation results show the effectiveness of the new design.