Vibration control for flexible arm by feedback error learning

This paper proposes a vibration control technique using Feedback Error Learning (FEL). In this technique, a feedforward controller is tuned automatically to improve tracking performance while the unknown plant is stabilized by a simple feedback controller. This approach has been theoretically developed for MIMO plant, and verified its effectiveness in terms of numerical simulation. However, few works have treated an actual experiment so far. Viewing this point, we apply FEL to one-link flexible arm based on the concept of mode expansion. Experiment for rotation angle control is carried out to verify its effectiveness to the actual plant.