An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane

Figure 3

Simulations and experiments on a simple pendulum for 𝑚=0.21kg payload and 𝑙=0.4m hoisting cable.

(a) TORB and ILC acceleration profiles

(b) Oscillation angle of the hoisting cable

(c) Residual oscillation sensitivity