Abstract
Combining model predictive control (MPC) with iterative learning control (ILC) is a widely applied strategy in controlling repetitive processes. Currently, there are two approaches for designing such a controller, namely the separate design and the integrated design. The separate design has better performance on nonrepetitive disturbance rejection, while the integrated design has faster convergent rate. In this paper, by borrowing the idea of the two-stage optimization, a new design has been proposed for enhancing the integrated control of combining MPC with ILC. In this way, good performance and fast convergent rate can be obtained simultaneously. Simulations are given to illustrate the effectiveness of the proposed algorithm on disturbance attenuation.
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