Design and Modeling Aspects in Multivariable Iterative Learning Control

Iterative Learning Control (ILC) can significantly improve the performance of systems that perform repeating tasks. Typically, several decentralized ILC controllers are designed and implemented. Such ILC designs tacitly ignore interaction. The aim of this paper is to further analyze the consequences of interaction in ILC, and develop a solution framework, covering a spectrum of systematic decentralized designs to centralized designs. The proposed set of solutions differs in design, i.e., performance and robustness, and modeling requirements, which are investigated in detail. The benefits and differences are demonstrated through a simulation study.