@ARTICLE{7042306, author={C. M. Verrelli and S. Pirozzi and P. Tomei and C. Natale}, journal={IEEE Transactions on Control Systems Technology}, title={Linear Repetitive Learning Controls for Robotic Manipulators by Padé Approximants}, year={2015}, volume={23}, number={5}, pages={2063-2070}, keywords={approximation theory;industrial robots;learning systems;linear systems;Lyapunov methods;manipulator dynamics;position control;stability;three-term control;transfer functions;linear repetitive learning control;robotic manipulator;[m, m]-Padé approximant;asymptotic joint position tracking;periodic position reference signal;stability proof;Lyapunov-like function;transfer function;output tracking error;approximation order;control law;industrial robot control unit;repetitive task;proportional-integralderivative control;PID control;Approximation methods;Estimation;Joints;Vectors;Manipulator dynamics;Learning control;Padé approximants;robotic manipulators.;Learning control;Padé approximants;robotic manipulators}, doi={10.1109/TCST.2015.2396012}, ISSN={1063-6536}, month={Sept},}