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Fuzzy PD-Type Iterative Learning Control of a Single Pneumatic Muscle Actuator

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Figure

Fig. 1. ILC algorithm flow
Fig.  2. Fuzzy ILC algorithm flow
Fig.  3. Actual value and predict value of shrinkage on the Y axis, whose bottom coincides with the origin and the top was the free movement end
Fig. 5 shows that the output trajectory of PMA after iterations of 2, 5, 8, 15 times Fig
+4

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