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## Hybrid iterative learning control

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This chapter presents hybrid iterative learning control schemes with acceleration feedback for control of flexible manipulator systems. The learning schemes considered are PD-type, PI-type and PID-type. A collocated PD controller is considered for rigid-body motion control, and this is extended to incorporate noncollocated and iterative learning control with acceleration feedback. The control scheme is incorporated into a single-link flexible manipulator and a set of case study exercises assessing the performance of the approach is presented and discussed. The tests include time-domain and frequency-domain analyses with and without acceleration feedback in terms of amount of vibration reduction at resonance modes, robustness and input tracking.

Chapter Contents:

• 10.1 Introduction
• 10.2 Iterative learning control schemes
• 10.3 Simulation and experimental realisation of the control schemes
• 10.3.1 Case study 10.1: collocated PD and PD-type learning control
• 10.3.2 Case study 10.2: collocated PD and non-collocated PID control
• 10.3.3 Case study 10.3: hybrid ILC with end-point acceleration feedback
• 10.4 Summary

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