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This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforwarddoi:10.3390/app10217847 fatcat:d2nrltnbhfdm7cg6azpvml6k6q