In this chapter, the issue of introducing iterative improvement strategies in two-degrees-of-freedom structures will be addressed. In particular, for repetitive tasks, reference tracking and repetitive deterministic disturbance rejection can be carried out either in open-loop or in closed-loop. If some open-loop improvement mechanisms are introduced in the control strategy, then the burden on the feedback loop can be reduced so lower gain loops can yield improved robustness.
KeywordsControl Action Learning Rate Iterative Learning Disturbance Rejection Feedforward Control
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