Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot

In this paper we use a 2D systems setting todevelop new results on iterative learning control for linearsingle-input single-output (SISO) plants, where it is well knownin the subject area that a trade-off exists between speed ofconvergence and the response along the trials. Here we givenew results by designing the control scheme using a strong formof stability for repetitive processes/2D linear systems known asstability along the pass (or trial). The design computations arein terms of Linear Matrix Inequalities (LMIs) and results fromexperimental verification on a gantry robot are also given