Digital iterative learning control of unknown multivariable plants

Digital iterative controllers can be directly designed using only input/output models of linear multivariable plants in the form of step-response matrices. It is shown that because such matrices can be readily identified in real time, digital iterative learning controllers can easily be modified to cope with unknown linear multivariable plants. This modification can be effected simply by incorporating recursive identifiers in digital iterative learning controllers. These general results are illustrated by numerical results for the digital iterative learning control of a linear multivariable plant whose dynamical characteristics are initially unknown to the controller