Iterative learning control design for discrete stochastic linear systems

This paper develops a new iterative learning control law for stochastic linear systems. The design is based on recently developed passivity based control of repetitive process, which are a class 2D nonlinear systems. In particular, this theory is used to design a nonlinear control law for linear dynamics, which allows tuning of the control law to achieve better performance. A supporting example is given, including a comparison with a previously reported design.