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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 187948, 13 pages
http://dx.doi.org/10.1155/2015/187948
Research Article

Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator

School of Mechanical, Aeronautical and Industrial Engineering, University of the Witwatersrand, 1 Jan Smuts Avenue, Private Bag 03, Johannesburg WITS2050, South Africa

Received 10 September 2015; Revised 23 November 2015; Accepted 6 December 2015

Academic Editor: Yan-Jun Liu

Copyright © 2015 Horacio Ernesto and Jimoh O. Pedro. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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