Frequency-Domain Based Iterative Learning Control for 2-D Discrete Systems

In the existing of traditional iterative learning control (ILC) results for two-dimensional (2-D) discrete systems with time-domain based analysis approach, fixed boundary states do not affect the complete convergence of P-type ILC law. However, it does affect the ILC convergence properties in the frequency domain. This paper first investigates the frequency-domain ILC tracking problem for 2-D discrete systems with different boundary states. An extended P-type ILC law is designed and a sufficient convergence condition of which can be derived through a rigorous mathematical proof. A simulation example is given to verify the effectiveness and validation of the proposed extended P-type ILC law. Finally, some comparison results on traditional P-type ILC law and D-type ILC law are presented.