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This paper describes a new genetic learning approach to the construction of a local model network (LMN) and design of a local controller network (LCN) with application to a single-link flexible manipulator. A highly nonlinear flexible manipulator system is modelled using an LMN comprising Autoregressive–moving-average model with exogenous inputs (ARMAX) type local models (LMs) whereas linear Proportional-integral-derivative...
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