In the present paper, iterative learning control (ILC) is integrated with a model predictive control (MPC) technique to reject real-time disturbances. The proposed scheme is called iterative learning model predictive control (ILMPC). ILC is an e ective control technique for batch processes, but it is not a real-time feedback controller. Thus, it should be combined with MPC for real-time disturbance rejection. The existing ILMPC techniques make the error converge to zero. However, if the error

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... nverges to zero, an impractical input trajectory may be calculated. We use a generalized objective function to independently tune weighting factors of manipulated variable change with respect to both the time index and batch horizons. If the generalized objective function is used, output error converges to non-zero values. We provide convergence analysis for both cases of zero convergence and non-zero convergence.