Robust Iterative Learning Control for ladder circuits with mixed uncertainties

This paper develops iterative learning control laws for a subclass of uncertain spatially interconnected systems. Model uncertainties appear both in the state (represented by the norm bounded description) and the output equation (represented by a polytopic description) of the dynamics modeled in the 2D systems setting. A particular example of an RLC ladder circuit provides an example to motivate the analysis. The first stage is to write the dynamics in 2D model form and then to apply the stability theory for a distinct class of 2D systems known as repetitive processes is used to develop the ILC law in the case of differential dynamics. This results in a design algorithm that considers the mixed uncertainties in the model and can be applied using linear matrix inequalities.