IMC-based iterative learning control for batch processes with uncertain time delay

Based on the Internal model control (IMC) structure, an iterative learning control (ILC) scheme is proposed for batch processes with model uncertainties including time delay mismatch An important merit is that the IMC design for the initial run of the proposed control scheme is independent of the Subsequent ILC for realization of perfect tracking Sufficient conditions to guarantee the convergence of ILC are derived. To facilitate the controller design. a unified controller form is proposed for implementation of both IMC and ILC in the proposed control scheme Robust tuning constraints of the Unified controller are derived in terms of the process uncertainties described ill a Multiplicative form To deal with process uncertainties, the unified controller call be monotonically tuned to meet the compromise between tracking performance and control system robust stability Illustrative examples from the recent literature are performed to demonstrate the effectiveness and merits of the proposed control scheme (C) 2009 Elsevier Ltd All rights reserved