Multivariable iterative learning control: analysis and designs for engineering applications

Lennart Blanken, Jurgen van Zundert, Robin de Rozario, Nard Strijbosch, Tom Oomen

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

1 Citation (Scopus)
6 Downloads (Pure)


Iterative Learning Control (ILC) enables high control performance through learning from measured data, using limited model knowledge, typically in the form of a nominal parametric model. Robust stability requires robustness to modeling errors, often due to deliberate undermodeling. The aim of this chapter is to outline a range of design approaches for multivariable ILC that is suited for engineering applications, with specific attention to addressing interaction using limited model knowledge. The proposed methods either address the interaction in the nominal model, or as uncertainty, i.e., through robust stability. The result is a range of techniques, including the use of the structured singular value (SSV) and Gershgorin bounds, that provide a different trade-off between modeling requirements, i.e., modeling effort and cost, and achievable performance. This allows control engineers to select the approach that fits best the modeling budget and control requirements. This trade-off is demonstrated in case studies on industrial printers. Additionally, two learning approaches are presented that are compatible with, and provide extensions to, the developed multivariable design framework: model-free iterative learning, and ILC for varying tasks.
Original languageEnglish
Title of host publicationData-driven modeling, filtering and control
Subtitle of host publicationmethods and applications
EditorsCarlo Novara, Simone Formentin
Place of PublicationStevenage
PublisherInstitution of Engineering and Technology (IET)
Number of pages35
ISBN (Electronic)9781785617126
ISBN (Print)9781785617126
Publication statusPublished - 2019

Publication series

NameIET control, robotics and sensors series


  • Control engineers
  • Control performance
  • Control requirements
  • Engineering computing
  • Gershgorin bounds
  • ILC
  • Interpolation and function approximation (numerical analysis)
  • Iterative learning control
  • Model knowledge
  • Model-free iterative learning
  • Modeling budget
  • Nominal parametric model
  • Self-adjusting control systems
  • Structured singular value


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