Previous and Current Cycle Learning approach to a 3D crane system laboratory equipment

The paper offers a Previous and Current Cycle Learning (PCCL) approach to the position control of a 3D crane system laboratory equipment in the framework of a new Iterative Learning Control (ILC) structure. The PCCL structure is constructed around a control loop with a frequency domain designed lead-lag controller, and a real PD learning rule is involved. A frequency domain convergence condition is applied to design the learning rule. The design of the ILC structure is illustrated by real-time experimental results related to the position control.