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

We consider residual vibration suppression in flexible structures performing a point-to-point motion, based on Hankel Iterative Learning Control (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.