Robust iterative learning control for linear systems subject to time-invariant parametric uncertainties and repetitive disturbances

This paper presents the design of a robust Iterative Learning Control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repet-itive disturbances. The robust ILC design is formu-lated as a min-max problem with a quadratic perfor-mance index subjected to constraints of the control input. Employing Lagrange duality, we can refor-mulate the robust ILC design as a convex optimiza-tion problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is then given. Finally, the effectiveness of the proposed ro-bust ILC algorithm is demonstrated through a nu-merical example.