Journal of Control Science and Engineering

Research Article

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

Figure 3

Block diagram with the controller ⎡ ⎢ ⎢ ⎢ ⎣ 𝑧 1 𝑧 2 𝑒 ⎤ ⎥ ⎥ ⎥ ⎦ = ⎡ ⎢ ⎢ ⎢ ⎣ 𝑊 1 − 𝑊 1 Ψ 0 𝑊 d e l a y 0 𝑊 2 𝑊 d e l a y 𝐼 − Ψ 0 𝑊 d e l a y ⎤ ⎥ ⎥ ⎥ ⎦ 𝑦 𝑑 𝑢 0 𝑥 0 0 2 𝑑 𝑐 𝑦 ∶ = 𝑃 𝑑 𝑢 0 𝑥 0 0 2 𝑑 𝑐 ( 2 0 ) and the delay 𝑃 .
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