Experimentally verified multi-objective iterative learning control design with frequency domain specifications

This paper considers the design of multi-objective iterative learning control (ILC) schemes for discrete linear systems. In particular, a two step design approach is developed where the feedback and learning controllers are designed separately. The design procedures developed are able to impose performance specifications over selected frequency ranges to obtain the desired shapes of the sensitivity functions relevant to a particular example. This makes it possible to reject disturbances in specific frequency ranges and hence the desired performance specifications for both the transient response and error convergence speed can be achieved. All design computations required can be completed using linear matrix inequalities (LMIs). Preliminary experimental results demonstrate the effectiveness of the new design