Design techniques for multivariable ILC: application to an industrial flatbed printer

Iterative Learning Control (ILC) can signi cantly improve performance of systems that perform repeating tasks. Although in practice many systems are multivariable, frequency-domain ILC design procedures often involve multi-loop single-input single-output (SISO) fi lters which do not explicitly address interaction in dynamics. The aim of this paper is to i) analyze multi-loop SISO ILC designs, ii) point out the importance of multivariable ILC design, and iii) develop the required multivariable design algorithms. Bene ts of the proposed approaches over multi-loop SISO ILC are demonstrated on an industrial printer model example.