A robust iterative learning fault-tolerant control scheme is proposed for linear processes with actuator faults and external disturbances. Firstly, the robust iterative learning fault-tolerant controller is designed based on the two dimension(2D) system theory, and the iterative learning control system is transformed to an equivalent two dimensional model. Then the fault-tolerant performance along both time and cycle directions and disturbance rejection performance of
the controlled system is analyzed and optimized by using linear matrix inequality(LMI) technique. Meanwhile, the sufficient conditions for the system to satisfy these performances are given, and the controller parameters are derived from the LMI convex optimization problems further. Finally, the simulation results of the rotational control system show the effectiveness of the proposed method.