Abstract： Focusing on the batch processes with actuator fault and state delay, a compound iterative learning reliable guaranteed cost controller combining feedback control and iterative learning control was proposed. The fault system with time delay was transformed to the delay system with the equivalent 2DFM model. Then, based on the equivalent model, to guarantee the realization of the system, a robust iterative learning reliable guaranteed cost method based on 2D dynamic output feedback was proposed with developed learning information. Timedelaydependent sufficient conditions guaranteeing the system stability and best performance was constructed. Furthermore, an optimal design algorithm with expanded learning information of robust iterative faulttolerant guaranteed cost control was derived, while taking the influence of time delay on system stability and performance into consideration. The closedloop system could run smoothly within the fault permissible range when actuator failure occurred. The application on the nozzle pressure in packing phase of injecting modeling process proves the effectiveness of the proposed scheme.
Key words： batch process; iterative learning; faulttolerant guaranteed cost control; actuator fault; delay dependent