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Journal of Control Science and Engineering
Volume 2008, Article ID 289391, 6 pages
Research Article

Robust Design of Terminal ILC with H Mixed Sensitivity Approach for a Thermoforming Oven

1Automated Production Department, École de Technologie Supérieure, Université du Québec, Montréal, QC, Canada H3C 1K3
2Department of Electrical and Computer Engineering, McGill University, Montréal, QC, Canada H3A 2A7

Received 9 November 2007; Accepted 2 May 2008

Academic Editor: Kevin Moore

Copyright © 2008 Guy Gauthier and Benoit Boulet. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a robust design approach for terminal iterative learning control (TILC). This robust design uses the H mixed-sensitivity technique. An industrial application is described where TILC is used to control the reheat phase of plastic sheets in a thermoforming oven. The TILC adjusts the heater temperature setpoints such that, at the end of the reheat cycle, the surface temperature map of the plastic sheet will converge to the desired one. Simulation results are included to show the effectiveness of the control law.