This paper discusses the tracking control problem for a class of multi-input-multi-output (MIMO) mismatched linear systems, where there are disturbances in different channels from the control input and the real-time feedback signal is not the output of interest. This mismatch makes it difficult to achieve high tracking performance for the interested output. To address this problem, two model based iterative learning control (ILC) algorithms, namely reference ILC and torque ILC, are designed for different injection locations in the closed loop system. An ad hoc hybrid scheme is proposed to make transitions between the two ILC stages for them to work properly at the same time. The proposed scheme is validated through the experimental study on a single-joint indirect drive system.

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