Design of iterative learning controller based on model prediction control

An iterative learning controller based on model predictive control is proposed to track the desired trajectory for a class of repetitive system with nonrepetitive disturbances. The iterative learning controller is used to repetitive process as feed-forward. Based on the temporal model of tracking error, the model predictive control is applied to improve the tracking performance along the time domain for controlling the current stochastic disturbances. In order to restrain the repetitive disturbances, the P-type iterative learning controller is introduced along the iteration index. The simulation results demonstrate the feasibility and effectiveness of the presented method