This paper studies a robust iterative learning control design for discrete linear repetitive processes in the finite frequency domain. Firstly, the state-space model of the iterative learning process is deduced. Then the dynamic performance condition of the control system in the finite frequency domain is derived by combining it with the stability theory of discrete linear repetitive processes. The system performances in the finite frequency domain are then transformed into the corresponding

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... utions of the linear matrix inequality by using the generalised KYP lemma. Finally, an integrated state feedback PD-type iterative learning control strategy is proposed. The robust control problem with norm-bounded uncertainty and convex polyhedral uncertainty are also considered in this paper. The simulation of the injection velocity in injection molding verified that the proposed methods in this paper are more effective than the P-type state feedback iterative learning control algorithm.