Tip position control of a one-link flexible arm by adjoint-type Iterative Learning Control

Description

Adjoint-type Iterative Learning Control (ILC) can obtain a desired input that generates a given desired output for a Nonminimum Phase System (NMP) with unmodeled parts. However, adjoint-type ILC can be carried out for a specific desired output. We combined adjoint-type ILC and feedback control to achieve an arbitral desired output for a one-link flexible arm.

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