Abstract: Taking the designing and controlling problem in cloud controller into account，a new cloud controller based on iterative learning controller is proposed.The universe of the cloud controller is set using the iterative learning controller，and this makes the controller designing simply.The simulation to the Continuous-Stirred Tank Reactor shows that the controller has reduced the steady-state error and satisfied the process of the industry.It also has strong robustness.

Key words: iterative learning control, cloud model control, Continuous-Stirred Tank Reactor（CSTR）

摘要： 针对云控制在设计和控制中存在的一些问题，提出了一种基于迭代学习控制方法的云控制器，利用迭代学习算法设置云控制器的论域，简化了云控制器的设计过程。通过对连续搅拌釜式反应器（CSTR）的控制仿真，表明该控制器大大减少了稳态误差，满足了工业过程的要求，并具有较强的鲁棒性。

关键词: 迭代学习, 云控制, 连续搅拌反应釜