Robust H_inf Iterative Learning Control of Time-delay Systems with Parametric Uncertainties: 2D Systems Theory Approach

In this paper, the 2-D modified Fornasini-Marchesini (MFM) state-space model of iterative learning control for uncertain state-delayed systems is introduced. Based on the 2-D model, the problem of designing a robust iterative learning controller is transformed to robust H_inf  stabilization of a 2-D state-delayed system. Dynamic output feedback controller is applied to stabilize the uncertain 2-D model of the process. Linear matrix inequality (LMI) approach is used to find the coefficients of the controller. Finally, two numerical examples are simulated by MATLAB software to compare the proposed method with the classic ILC method and to show the efficiency of the proposed ILC method.