Application of cyclic control to a two-link flexible arm

A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact trajectory tracking is considered, the control problem herein formulated cares only for points. The control scheme developed is finite dimensional and does not need system re-initialization at each trial, since the new trial starts from the point reached at the end of the previous one. Experimental results show that the proposed algorithm allows a good control of the flexible arm considered.