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

Figure 5

Simulations and experiments on a double pendulum with no hoisting.

(a) ILC and TORB acceleration profiles

(b) Oscillation angle of the hoisting cable

(c) Sensitivity of residual oscillations of 𝑙₁

(d) Sensitivity of residual oscillations of 𝑙₂