In this paper we use a 2D systems setting to develop new results on iterative learning control for linear single-input single-output (SISO) plants, where it is well known in the subject area that a trade-off exists between speed of convergence and the response along the trials. Here we give new results by designing the control scheme using a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial). The design computations are in terms of Linear Matrix Inequalities (LMIs) and results from experimental verification on a gantry robot are also given.