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

Table 2

Tuned controller gains and control inputs constraints.

Controller	Control gains
sat(PDdgc)	N/m;  Nm/rad
	Nm/rad;  N/m
	Nsec/m;  Nmsec/rad
	Nmsec/rad;  Nsec/m
PDILC	;
	;
	;
	;
sat(PID)	N/m;  Nm/rad
	Nm/rad;  N/m
	Nsec/m;  Nmsec/rad
	Nmsec/rad;  Nsec/m
	N/msec;  Nm/radsec
	Nm/radsec;  N/msec
Controller	Additional parameters
Inputs	N;  Nm
	Nm;  N