Iterative Learning Control for 2-D linear discrete systems with Roessor´s model

Almost all existing Iterative Learning Control (ILC) methods are specifically designed for the one-dimensional dynamical systems. And many two-dimensional dynamical systems are often required to do repeatable works in engineering fields. This paper presents a novel P-type ILC rule for the two-dimensional systems represented by Roessor´s model. The proof on convergence of the proposed ILC rule is based on the solution formula of the two-dimensional Roessor´s model in ILC process. By transferring the ILC tracking errors into a one-dimensional system in iteration direction, the convergence condition of the proposed ILC rule is derived.