Robust iterative learning control of linear continuous time systems with disturbances

The robust iterative learning control is presented in this paper for the tracking control for linear systems with disturbances. An H infinity norm based on iterative learning control is used to analyze the system stability and to prove the convergence of the learning control rule. We proposed in this paper an initial robust control law applied to the plant then an iterative learning control is deduced which guaranteed the monotonic convergence of the system. The analysis and synthesis of this control law is based on the resolution of a convex optimization problem under constraints of LMI (Linear Matrix Inequalities).