R-adjustable learning control for batch process

To track the operation performance of a batch process under iterative learning control,we propose an R-adjustment control strategy.The definitions of zero-tracking error and bounded-tracking error are given according to classi-cal control theory.We investigate the iterative learning control strategy for achieving zero-tracking error in the output,and rigorously prove the tracking ability of the system under control.The most important conclusion is that the zero-tracking error can be achieved by the R-adjustment control strategy,which provides the basis for practical applications.