Hankel Iterative Learning Control for residual vibration suppression with MIMO flexible structure experiments

J.J.M. Wijdeven, van de, O.H. Bosgra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

18 Citations (Scopus)
168 Downloads (Pure)


In this paper, we consider residual vibration suppression in flexible structures performing a point-to-point motion, based on Hankel ILC. Initially, design freedom in Hankel ILC is discussed, including different choices for the actuation time window and the observation time window. Subsequently, a three input three output flexible beam is presented as an experimental setup for Hankel ILC. The different practical and theoretical issues related to implementation of Hankel ILC on the setup are discussed extensively. Thereby, versatility in the choice for the time windows is shown to be essential for a successful implementation. Experimental results illustrate the capability of Hankel ILC to suppress the residual vibrations in the flexible beam.
Original languageEnglish
Title of host publicationProceedings of the 2007 American Control Conference (ACC 2007) 9-13 July 2007, New York, New York, USA
Place of PublicationPiscataway, New Jersey, USA
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)1-4244-0988-8
Publication statusPublished - 2007
Event2007 American Control Conference (ACC 2007) - Marriott Marquis Hotel at Times Square, New York, NY, United States
Duration: 9 Jul 200713 Jul 2007


Conference2007 American Control Conference (ACC 2007)
Abbreviated titleACC 2007
Country/TerritoryUnited States
CityNew York, NY
Internet address


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