A novel control framework for batch and repetitive processes is proposed. The currently practiced methods to combine real-time feedback control (RFC) with iterative learning control (ILC) share a problem that RFC causes ILC to digress from its convergence track along the run index when there occur real-time disturbances. The proposed framework provides a pertinent means to incorporate RFC into ILC so that the performance of ILC is virtually separated from the effects of real-time disturbances. As a prototypical algorithm, a two-stage algorithm has been devised by modifying and combining the existing QILC and BMPC techniques. (C) 2004 Elsevier Ltd. All rights reserved.