Passivity Based Iterative Learning Control Design in the Discrete Repetitive Process Setting

Repetitive processes are important class of 2D systems with engineering applications and as a setting for iterative learning control (ILC) design. The application area for ILC is systems that execute the same finite duration task over and over again, with resetting to the starting location one each execution is complete. Previous research for linear dynamics has used the stability theory of linear repetitive processes to design control laws that have been experimentally verified. This paper applies the recently developed passivity theory for discrete repetitive process to ILC design. Based on this theory, a parametric description of a class of stabilizing controllers is obtained and a new design is developed that enhances the convergence properties of the implemented control law. An example using the model of the Quanser flexible link is given to demonstrate the application of the new design.