Two-dimensional model predictive iterative learning control scheme based on a two-dimensional performance model

By representing an iterative learning control (ILC) system as a two-dimensional system and using the philosophy of model predictive control (MPC) and performance model reference control, a two-dimensional performance model based model predictive iterative learning control scheme is proposed in this paper. Through the design of two-dimensional dynamics of the performance model to generate more proper reference trajectories and predictive control signals for each cycle, the convergence pattern of the iterative learning control system can be guided to avoid the issue of possibly violent oscillation of input signal. The structure analysis indicates that the resulted control is composed of the time-wise performance model based model predictive control and cycle-wise iterative learning control, and that the convergence of the closed loop control system is equivalent to the stability of a two-dimensional filter. Numerical simulations illustrate the effectiveness and robustness of the proposed control scheme. Copyright © 2013 Acta Automatica Sinica. All rights reserved