Iterative Learning Control for a Rotary Flexible Joint Experiment

This paper deals with the Iterative Learning Control (ILC) of a Flexible Joint Experiment. The paper presents a short overview of the field of Iterative Learning Control and some basic ILC strategies (P - type and D - type) are highlighted. The design of ILC for linear systems is briefly presented. The ILC is implemented on a Flexible Joint experiment, working in repetitive manner, where the control goal is the trajectory tracking. Even the Flexible Joint is a nonlinear system, in order to tune the controller parameters a linear model is derived. The controller performances are evaluated using a real plant experiment. The main experimental results are presented and the performance of the control system is analyzed.