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In this paper, the iterative learning control (ILC) problem is investigated for the motion system of an open container with sloshing constraints in industrial fluid packaging. Initially, a broader class of second-order in space and first-order in time linear time-invariant singular distributed parameter system is decomposed by analyzing the motion system of an open container with sloshing constraints. Meanwhile, to eliminate the influence of singular terms on the system, a closed-loop D-type ILC algorithm is designed, and the corresponding convergence conditions are manifested. Then the convergence of the control algorithm is proved strictly. The resulting tracking error of systems can converge to any small tracking accuracy. Finally, a numerical example is given to verify the convergence and effectiveness of the closed-loop D-type ILC algorithm.

D-Type Iterative Learning Control for Open Container Motion System With Sloshing Constraints