Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry

a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes with actuator failures. This paper introduces relevant concepts of the fault-tolerant guaranteed cost control and formulates the robust iterative learning reliable guaranteed cost controller (ILRGCC). A significant advantage is that the proposed ILRGCC design method can be used for on-line optimization against batch-to-batch process uncertainties to realize robust tracking of set-point trajectory in time and batch-to-batch sequences. For the convenience of implementation

only measured output errors of current and previous cycles are used to design a synthetic controller for iterative learning control

consisting of dynamic output feedback plus feed-forward control. The proposed controller can not only guarantee the closed-loop convergency along time and cycle sequences but also satisfy the H

?

performance level and a cost function with upper bounds for all admissible uncertainties and any actuator failures. Sufficient conditions for the controller solution are derived in terms of linear matrix inequalities (LM

Is)

and design procedures

which formulate a convex optimization problem with LMI constraints

are presented. An example of injection molding is given to illustrate the effectiveness and advantages of the ILRGCC design approach.