Abstract
In this chapter we augment the control structure to further improve tracking accuracy. To do this we exploit the inherently repetitive nature of the rehabilitation process, which involves neurologically impaired participants repeatedly performing tracking movements with their affected arm, with a rest period in between attempts during which their arm is returned to the starting position. We will use the data collected over previous task attempts to adjust the control action in order to compensate for tracking error on the subsequent task attempt. The analysis of the previous chapter is then extended to provide precise robust performance bounds involving the plant modeling uncertainty existing in the system.
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Freeman, C. (2016). Iterative Learning Control Design. In: Control System Design for Electrical Stimulation in Upper Limb Rehabilitation. Springer, Cham. https://doi.org/10.1007/978-3-319-25706-8_4
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DOI: https://doi.org/10.1007/978-3-319-25706-8_4
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