Szukana fraza: [Abstract = "This paper develops PD\-type iterative learning control schemes for a class of uncertain batch processes subject to nonrepetitive disturbances. By means of two\-dimensional\/repetitive setting, the sufficient conditions for batch\-to\-batch error convergence and $\\mathcal\{H\}_\{\\infty\}$ disturbance attenuation are formulated and analyzed. Subsequently, the procedure for computing the desired control law matrices is formulated in terms of solvability of linear matrix inequalities."]

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