This paper develops an iterative learning control (ILC) scheme for gantry crane systems subject to external disturbances. The system dynamics are modeled by partial differential equations (PDEs) with boundary conditions. To suppress vibrations and to compensate for unknown boundary disturbances, an ILC law incorporating boundary feedback control is proposed. The operator semigroup theory is employed to establish the well-posedness of the closed-loop system. Exponential stability under the proposed controller is rigorously proven using Lyapunov’s direct method. Comparative simulation results demonstrate the effectiveness and superior performance of the presented ILC scheme, validating its practical applicability.
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